PD terminal sliding mode control using fuzzy genetic algorithm for mobile robot in presence of disturbances

• Autorzy: Benaziza W. , Slimane N. , Mallem A.

Identyfikatory

DOI

10.14313/JAMRIS_2-2018/11

• Języki publikacji: EN

Abstrakty

EN

This paper presents a new approach in the field of trajectory tracking for nonholonomic mobile robot in presence of disturbances. The proposed control design is constructed by a kinematic controller, based on PD sliding surface using fuzzy sliding mode for the angular and linear velocities disturbances, in order to tend asymptotically the robot posture error to zero. Thereafter a dynamic controller is presented using as a sliding surface design, a fast terminal function (FTF) whose parameters are generated by a genetic algorithm in order to converge the velocity errors to zero in finite time and guarantee the asymptotic stability of the system using a Lyapunov candidate. The elaborated simulation works in the case of different trajectories confirm the robustness of the proposed approach.

Słowa kluczowe

EN

mobile robot; fast terminal function; PD sliding surface; fuzzy system; genetic algorithm; Lyapunov stability

PL

robot mobilny; system rozmyty; algorytm genetyczny; Stabilność Lapunova

• Wydawca: Łukasiewicz Industrial Research Institute for Automation and Measurements PIAP
• Czasopismo: Journal of Automation Mobile Robotics and Intelligent Systems
• Rocznik: 2018
• Tom: Vol. 12, No. 2
• Strony: 52--60
• Opis fizyczny: Bibliogr. 30 poz., rys.

Twórcy

autor

Benaziza W.

• Advanced Electronic laboratory, University of Batna 2, Batna, Algeria

autor

Slimane N.

• Advanced Electronic laboratory, University of Batna 2, Batna, Algeria

autor

Mallem A.

• Advanced Electronic laboratory, University of Batna 2, Batna, Algeria

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).