Adaptive Fuzzy Path Tracking Control for Mobile Robots with Unknown Control Direction
In order to synthesize controllers for wheeled mobile robots (WMRs), some design techniques are usually based on the assumption that the center of mass is at the center of the robot itself. Nevertheless, the exact position of the center of mass is not easy to measure, thus WMRs is a typical uncertai...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Discrete Dynamics in Nature and Society |
| Online Access: | http://dx.doi.org/10.1155/2021/9935271 |
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| author | Qifei Du Lin Sha Wuxi Shi Liankun Sun |
| author_facet | Qifei Du Lin Sha Wuxi Shi Liankun Sun |
| author_sort | Qifei Du |
| collection | DOAJ |
| description | In order to synthesize controllers for wheeled mobile robots (WMRs), some design techniques are usually based on the assumption that the center of mass is at the center of the robot itself. Nevertheless, the exact position of the center of mass is not easy to measure, thus WMRs is a typical uncertain nonlinear system with unknown control direction. Based on the fast terminal sliding mode control, an adaptive fuzzy path tracking control scheme is proposed for mobile robots with unknown control direction. In this scheme, the fuzzy system is used to approximate unknown functions, and a robust controller is constructed to compensate for the approximation error. The Nussbaum-type functions are integrated into the robust controller to estimate the unknown control direction. It is proved that all the signals in the closed-loop system are bounded, and the tracking error converges to a small neighborhood of the origin in a limited time. The effectiveness of the proposed scheme is illustrated by a simulation example. |
| format | Article |
| id | doaj-art-ff6357c23ed14c8abad52cc63cdd1304 |
| institution | Kabale University |
| issn | 1026-0226 1607-887X |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Discrete Dynamics in Nature and Society |
| spelling | doaj-art-ff6357c23ed14c8abad52cc63cdd13042025-02-03T06:05:26ZengWileyDiscrete Dynamics in Nature and Society1026-02261607-887X2021-01-01202110.1155/2021/99352719935271Adaptive Fuzzy Path Tracking Control for Mobile Robots with Unknown Control DirectionQifei Du0Lin Sha1Wuxi Shi2Liankun Sun3National Demonstration Center for Experimental Engineering Training Education, TianGong University, Tianjin 300387, ChinaKey Laboratory of Intelligent Control of Electrical Equipent, Tianjin 300387, ChinaKey Laboratory of Intelligent Control of Electrical Equipent, Tianjin 300387, ChinaSchool of Computer Science &Technology, Tiangong University, Tianjin 300387, ChinaIn order to synthesize controllers for wheeled mobile robots (WMRs), some design techniques are usually based on the assumption that the center of mass is at the center of the robot itself. Nevertheless, the exact position of the center of mass is not easy to measure, thus WMRs is a typical uncertain nonlinear system with unknown control direction. Based on the fast terminal sliding mode control, an adaptive fuzzy path tracking control scheme is proposed for mobile robots with unknown control direction. In this scheme, the fuzzy system is used to approximate unknown functions, and a robust controller is constructed to compensate for the approximation error. The Nussbaum-type functions are integrated into the robust controller to estimate the unknown control direction. It is proved that all the signals in the closed-loop system are bounded, and the tracking error converges to a small neighborhood of the origin in a limited time. The effectiveness of the proposed scheme is illustrated by a simulation example.http://dx.doi.org/10.1155/2021/9935271 |
| spellingShingle | Qifei Du Lin Sha Wuxi Shi Liankun Sun Adaptive Fuzzy Path Tracking Control for Mobile Robots with Unknown Control Direction Discrete Dynamics in Nature and Society |
| title | Adaptive Fuzzy Path Tracking Control for Mobile Robots with Unknown Control Direction |
| title_full | Adaptive Fuzzy Path Tracking Control for Mobile Robots with Unknown Control Direction |
| title_fullStr | Adaptive Fuzzy Path Tracking Control for Mobile Robots with Unknown Control Direction |
| title_full_unstemmed | Adaptive Fuzzy Path Tracking Control for Mobile Robots with Unknown Control Direction |
| title_short | Adaptive Fuzzy Path Tracking Control for Mobile Robots with Unknown Control Direction |
| title_sort | adaptive fuzzy path tracking control for mobile robots with unknown control direction |
| url | http://dx.doi.org/10.1155/2021/9935271 |
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