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

fYear

2013

fDate

10-12 Dec. 2013

Firstpage

190

Lastpage

195

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot, Vision and Signal Processing (RVSP), 2013 Second International Conference on

Conference_Location

Kitakyushu

Print_ISBN

978-1-4799-3183-5

Type

conf

DOI

10.1109/RVSP.2013.51

Filename

6830011