Design of an adaptive fuzzy variable structure compensator for the nonholonomic mobile robot in trajectory tracking task

• Autorzy: Begnini M. , Bertol W. , Martins N. A.
• Języki publikacji: EN

Abstrakty

EN

A robust adaptive kinematic control strategy, based on the methodology of variable structure control is considered in this paper. Because the dynamics of mobile robots is subject to uncertainties and disturbances, a fuzzy compensator is adopted to estimate them. In order to minimize the tracking errors and to attenuate the chattering phenomenon, an adaptation law for the fuzzy compensator is obtained by Lyapunov stability theory so as to asymptotically stabilize the control system as well as guarantee the convergence of the tracking errors. In terms of comparison with the boundary layer variable structure controller, simulations and experiments verify the feasibility and effectiveness of the proposed kinematic control strategy for the nonholonomic mobile robots under the incidence of uncertainties and disturbances.

Słowa kluczowe

EN

nonholonomic mobile robot; trajectory tracking; variable structure control; uncertainties and disturbances; fuzzy compensator; Lyapunov theory

• Wydawca: Systems Research Institute, Polish Academy of Sciences
• Czasopismo: Control and Cybernetics
• Rocznik: 2018
• Tom: Vol. 47, no. 3
• Strony: 239--275
• Opis fizyczny: Bibliogr. 30 poz., rys.

Twórcy

autor

Begnini M.

• Departamento de Informatica, Universidade Estadual de Maringa - UEM, Programa de Pos-Gradua¸cao em Ciencia da Computa¸cao, Avenida Colombo, 5790, 87020-900, Maringa, PR, Brasil

autor

Bertol W.

• Departamento de Engenharia El´etrica, Universidade do Estado de Santa Catarina - UDESC, Rua Paulo Malschitzki, s/numero, 89219-710, Joinville, SC, Brasil

autor

Martins N. A.

• Universidade Federal de Santa Catarina - UFSC, Departamento de Automacao e Sistemas, Grupo de Pesquisa Robotica, Caixa Postal 476, 88040-900, Florianopolis, SC, Brasil
• Departamento de Informatica, Universidade Estadual de Maringa - UEM, Programa de Pos-Gradua¸cao em Ciencia da Computa¸cao, Avenida Colombo, 5790, 87020-900, Maringa, PR, Brasil

Bibliografia

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Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).