Title :
Design of Integral Fuzzy Terminal Sliding-Mode Controller for Omni-directional Mobile Robots
Author :
Chi-Hua Liu ; Shun-Hung Tsai ; Yu-An Chen ; Chin-Sheng Chen ; Chih-Chin Wen ; Ming-Ying Hsiao
Author_Institution :
Dept. of Ind. Eng. & Adm., Fortune Inst. of Technol., Kaohsiung, Taiwan
Abstract :
In this paper, an integral fuzzy terminal sliding mode control (IFTSMC) scheme is proposed for trajectory control of an omni-directional mobile robot (ODMR). This control scheme combines the techniques of terminal attractor approach, integral sliding-mode control and fuzzy logic control which can drive the posture error and velocity error to zero at finite time. All the simulation results demonstrate the effectiveness of the proposed control method.
Keywords :
control system synthesis; fuzzy control; mobile robots; trajectory control; variable structure systems; velocity control; IFTSMC scheme; ODMR; control method; controller design; fuzzy logic control; integral fuzzy terminal sliding-mode controller; omnidirectional mobile robots; posture error; terminal attractor approach; trajectory control; velocity error; Dynamics; Mobile robots; Service robots; Sliding mode control; Uncertainty; Vectors; Omni-directional mobile robot; fuzzy logic control; integral sliding-mode control; terminal attractor;
Conference_Titel :
Robot, Vision and Signal Processing (RVSP), 2013 Second International Conference on
Conference_Location :
Kitakyushu
Print_ISBN :
978-1-4799-3183-5
DOI :
10.1109/RVSP.2013.51
