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http://dx.doi.org/10.14775/ksmpe.2014.13.3.028

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

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)
Publication Information
Journal of the Korean Society of Manufacturing Process Engineers / v.13, no.3, 2014 , pp. 28-34 More about this Journal
Abstract
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.
Keywords
Fuzzy sliding mode control; Trajectory tracking; Nonholonomi; Two wheeled mobile robot;
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