DocumentCode
2180347
Title
Proxy based-fuzzy sliding mode controller for wheeled mobile robot Magellan Pro
Author
Turhan, Hasan Ihsan
Author_Institution
Electrical and Electronics Engineering Department, Middle East Technical University, Ankara/Turkey
fYear
2015
fDate
27-31 July 2015
Firstpage
15
Lastpage
20
Abstract
In this paper, proxy based - fuzzy sliding mode control (PB-FSMC) concept and application of this new concept on wheeled mobile robot (WMR) Magellan Pro are presented. Kinematic and dynamic models of wheeled mobile robot are given and controller design for these models are developed and explained in detail. In order to examine feasibility and validity of the designed controller, PB-FSMC is compared with the fuzzy sliding mode control (FSMC) technique in a simulation environment.
Keywords
Fuzzy control; Kinematics; Mathematical model; Mobile robots; Sliding mode control; Wheels; fuzzy sliding mode control; proxy based - fuzzy sliding mode control; wheeled mobile robot dinamics; wheeled mobile robot kinematics;
fLanguage
English
Publisher
ieee
Conference_Titel
Advanced Robotics (ICAR), 2015 International Conference on
Conference_Location
Istanbul, Turkey
Type
conf
DOI
10.1109/ICAR.2015.7251427
Filename
7251427
Link To Document