Adaptive fuzzy integral terminal sliding mode control of a nonholonomic wheeled mobile robot

DOI10.1155/2017/3671846MaRDI QIDQ1992652zbMATH OpenOpenAlexWikidataFDO

Authors Shuying Peng, Wuxi Shi

Publication date 5 November 2018

Published in Mathematical Problems in Engineering (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://doi.org/10.1155/2017/3671846

Mathematics Subject Classification ID

Variable structure systems (93B12) Fuzzy control/observation systems (93C42) Automated systems (robots, etc.) in control theory (93C85)

Review text

Summary: In this paper, the trajectory tracking problem is investigated for a nonholonomic wheeled mobile robot with parameter uncertainties and external disturbances. In this strategy, combining the kinematic model with the dynamic model, the actuator voltage is employed as the control input, and the uncertainties are approximated by a fuzzy logic system. An auxiliary velocity controller is integrated with an adaptive fuzzy integral terminal sliding mode controller, and a robust controller is employed to compensate for the lumped errors. It is proved that all the signals in the closed system are bounded and the auxiliary velocity tracking errors can converge to a small neighborhood of the origin in finite time. As a result, the tracking position errors converge asymptotically to zeros with faster response than other existing controllers. Simulation results demonstrate the effectiveness of the proposed strategy.

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Cites work

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Cited in

(24)

• EP-based kinematic control and adaptive fuzzy sliding-mode dynamic control for wheeled mobile robots
• Cascade sliding control for trajectory tracking of a nonholonomic mobile robot with adaptive neural compensator
• Adaptive fuzzy path tracking control for mobile robots with unknown control direction
• Intelligent controller for nonholonomic wheeled mobile robot: a fuzzy path following combination
• Robust trajectory tracking control of non-holonomic wheeled mobile robots using an adaptive fractional order parallel fuzzy PID controller
• An adaptive sliding mode backstepping control for the mobile manipulator with nonholonomic constraints
• An adaptive control strategy for indoor leader-following of wheeled mobile robot
• Dissipativity-based fuzzy integral sliding mode control of nonlinear stochastic systems
• Integral sliding mode control for trajectory tracking of wheeled mobile robot in presence of uncertainties
• Intelligent control for a perturbed autonomous wheeled mobile robot: a type-2 fuzzy logic approach
• Trajectory tracking control for wheeled mobile robots based on a piecewise fuzzy Lyapunov function
• Tracking control for wheeled mobile robot via T-S fuzzy model
• Fast terminal sliding mode tracking controller design for nonholonomic mobile robot
• Fuzzy Control System Using Nonlinear Friction Observer for the Mobile Robot
• Robust tracking control of a unicycle-type wheeled mobile manipulator using a hybrid sliding mode fuzzy neural network
• Adaptive robust fuzzy-based dynamic controller design for wheeled mobile robot
• Adaptive sliding mode trajectory tracking control for wheeled mobile robots
• Adaptive fuzzy sliding mode and indirect radial-basis-function neural network controller for trajectory tracking control of a car-like robot
• Design of an adaptive fuzzy variable structure compensator for the nonholonomic mobile robot in trajectory tracking task
• From nonlinear to fuzzy approaches in trajectory tracking control of wheeled mobile robots
• Adaptive sliding mode dynamic controller with integrator in the loop for nonholonomic wheeled mobile robot trajectory tracking
• Intelligent control for an uncertain mobile robot with external disturbances estimator
• Takagi-Sugeno fuzzy controller and sliding mode controller for a nonholonomic mobile robot
• Adaptive fuzzy sliding mode control of uncertain nonholonomic wheeled mobile robot with external disturbance and actuator saturation

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