EP-based kinematic control and adaptive fuzzy sliding-mode dynamic control for wheeled mobile robots |
| |
| Authors: | Chih-Yang Chen Tzuu-Hseng S Li Ying-Chieh Yeh |
| |
| Affiliation: | 1. Graduate School of Electrical Engineering, University of Ulsan, Nam-gu, Ulsan 680-749, South Korea;2. School of Electrical Engineering, University of Ulsan, Nam-gu, South Korea;1. Nanyang Technological University, School of Electrical and Electronic Engineering, Singapore, 639798, Singapore;2. Department of Automation, Tsinghua University, Beijing, 100084, China;3. Department of Electrical and Computer Engineering, Polytechnical Institute of New York University, Brooklyn, NY, 11201, USA;1. School of Transportation Science and Engineering, Beihang University, Beijing, 100191, PR China;2. Beijing Engineering Center for Clean Energy & High Efficient Power, Beihang University, Beijing 100191, PR China;3. Department of Mathematics, Beijing Jiaotong University, Beijing 100044, PR China;4. College of Automotive Engineering, Jilin University, Jilin 130012, PR China;1. Department of Electronics, Jijel University, Ouled Aissa, Jijel 18000, Algeria;2. Laboratoire de Modélisation, Information et Systèmes, MIS(E.A 4290), University of Picardie Jules Verne, 33 rue Saint-Leu, 80039, Amiens, France |
| |
| Abstract: | This paper proposes a complete control law comprising an evolutionary programming based kinematic control (EPKC) and an adaptive fuzzy sliding-mode dynamic control (AFSMDC) for the trajectory-tracking control of nonholonomic wheeled mobile robots (WMRs). The control gains for kinematic control (KC) are trained by evolutionary programming (EP). The proposed AFSMDC not only eliminates the chattering phenomenon in the sliding-mode control, but also copes with the system uncertainties and external disturbances. Additionally, the convergence of trajectory-tracking errors is proved by the Lyapunov stability theory. Computer simulations are presented to confirm the effectiveness of the proposed complete control law. Finally, real-time experiments are done in the test field to demonstrate the feasibility of real WMR maneuvers. |
| |
| Keywords: | |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
