Adaptive robust fuzzy-based dynamic controller design for wheeled mobile robot

被引：2

作者：

Taheri-Kalani, J. ^{[1
]}

Khosrowjerdi, M. J. ^{[2
]}

机构：

[1] Sahand Univ Technol, Sahand, Tabriz, Iran

[2] Sahand Univ Technol, Dept Elect Engn, Sahand, Tabriz, Iran

来源：

JOURNAL OF INTELLIGENT & FUZZY SYSTEMS | 2014年 / 26卷 / 05期

关键词：

Mobile robot; adaptive fuzzy approach; Lyapunov stability theory; sliding velocity; disturbance observer (DOB); Linear Matrix Inequality (LMI);

D O I：

10.3233/IFS-130927

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper an adaptive robust fuzzy-based approach is proposed to dynamic controller design problem for wheeled mobile robot in the presence of uncertainties in dynamic model. Also, the kinematic controller is designed based on Lyapunov stability theory in the presence of uncertainties that depend on sliding velocity. In order to eliminate uncertainties in kinematic model, they are modeled as lumped disturbances which estimated by Disturbance Observer (DOB) based on Linear Matrix Inequality (LMI). Simulations are carried out on a wheeled mobile robot to verify the performance of the proposed control scheme.

引用

页码：2557 / 2566

页数：10

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