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http://dx.doi.org/10.6109/jkiice.2017.21.2.265

Robust Trajectory Tracking Control of a Mobile Robot Based on Weighted Integral PDC and T-S Fuzzy Disturbance Observer  

Baek, Du-san (Department of Electrical Engineering, Changwon National University)
Yoon, Tae-sung (Department of Electrical Engineering, Changwon National University)
Publication Information
Journal of the Korea Institute of Information and Communication Engineering / v.21, no.2, 2017 , pp. 265-276 More about this Journal
Abstract
In this paper, a robust and more accurate trajectory tracking control method for a mobile robot is proposed using WIPDC(Weighted Integral Parallel Distributed Compensation) and T-S Fuzzy disturbance observer. WIPDC reduces the steady state error by adding weighted integral term to PDC. And, T-S Fuzzy disturbance observer makes it possible to estimate and cancel disturbances for a T-S fuzzy model system. As a result, the trajectory tracking controller based on T-S Fuzzy disturbance observer shows robust tracking performance. When the initial postures of a mobile robot and the reference trajectory are different, the initial control inputs to the mobile robot become too large to apply them practically. In this study, also, the problem is solved by designing an initial approach path using a path planning method which employs $B\acute{e}zier$ curve with acceleration limits. Performances of the proposed method are proved from the simulation results.
Keywords
T-S disturbance observer; mobile robot; trajectory tracking control; WIPDC controller; $B\acute{e}zier$ curve;
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Times Cited By KSCI : 2  (Citation Analysis)
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