한국기계가공학회지 (Journal of the Korean Society of Manufacturing Process Engineers)

  • 제13권3호
  • /
  • Pages.28-34
  • /
  • 2014
  • /
  • 1598-6721(pISSN)
  • /
  • 2288-0771(eISSN)
한국기계가공학회 (The Korean Society of Manufacturing Process Engineers)
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하이퍼볼릭 함수 기반의 퍼지 슬라이딩 모드 제어를 이용한 2바퀴 이동로봇의 경로 추종제어

Trajectory Tracking Control for Two Wheeled Mobile Robot using Fuzzy Sliding Mode Control based Hyperbolic Function

  • 임종욱 (금오공과대학교 일반대학원 전자공학과) ;
  • 이상재 (금오공과대학교 전자공학부) ;
  • 채창현 (금오공과대학교 전자공학부)
  • Lim, Jong-Uk (Department of Electronic Engineering, Graduate School Kumoh National Institute of Technology) ;
  • Lee, Sang-Jae (School of Electronic Engineering, Kumoh National Institute of Technology) ;
  • Chai, Chang-Hyun (School of Electronic Engineering, Kumoh National Institute of Technology)
  • 투고 : 2014.06.09
  • 심사 : 2014.06.27
  • 발행 : 2014.06.30
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초록

In this paper, we propose a trajectory tracking controller for a two-wheeled mobile robot (WMR) with nonholonomic constraints using a fuzzy sliding-mode controller-based hyperbolic function. The proposed controller is composed of two separate controllers. The sliding-mode controller is used for attitude control of the WMR, and the fuzzy controller-based hyperbolic function is designed to adjust the reach time of the sliding-mode control. Simulation results on a linear and a circular trajectory show that the proposed controller improves the control performance. The proposed controller reduces the reach time by as much as 47% compared to the controller proposed by Xie et al.

키워드

참고문헌

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  7. H.T. Yau and C.L. Chen, "Chattering-free fuzzy sliding-mode control strategy for uncertain chaotic systems", Chaos, Solitons & Fractals, Vol.30, No.3, pp.709-718, 2006. https://doi.org/10.1016/j.chaos.2006.03.077
  8. M.J. XIE and L.T. LI, "Trajectory tracking control for mobile robot based on the fuzzy sliding mode", Proceedings of the 10th World Congress on Intelligent Control and Automation, pp.2706-2709, 2012.
  9. Z,P, JIANGdagger, H. NIJMEIJER, " Tracking Control of Mobile Robots : A Case Study in Backstepping", Automatica, Vol.33, No.7, pp.1393-1399, 1997. https://doi.org/10.1016/S0005-1098(97)00055-1

피인용 문헌

  1. A Study on the SIIM Fuzzy Quasi-Sliding Mode Control for the Double Inverted Pendulum on a Cart vol.17, pp.1, 2018, https://doi.org/10.14775/ksmpe.2018.17.1.116