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

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Begnini M. , Bertol W. , Martins N. A.

tom Vol. 47, no. 3

239--275

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.

Variable-structure repetitive control for discrete-time linear systems with multiple-period exogenous signals

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Kurniawan E. , Harno H. G. , Wijonarko S. , Widiyatmoko B. , Bayuwati D. , Purwowibowo P. , Maftukhah T.

tom Vol. 30, no. 2

207--218

A new method to construct a discrete-time variable-structure repetitive controller for a class of linear systems perturbed by multiple-period exogenous signals is presented. The proposed control scheme combines the features of the discrete-time multiple-period repetitive control (MP-RC) and variable-structure control (VSC) techniques. The MP-RC part is assigned to simultaneously track and reject periodic signals consisting of multiple uncorrelated fundamental frequencies. The VSC part is then integrated to provide a fast transient response and robustness against plant parameter variations. Stability and robustness analyses are also elaborated to ensure that the resulting closed-loop system satisfies the desired control objectives. Moreover, it is shown through an example that the repetitive control system constructed using the proposed control method can effectively track a sinusoidal reference signal despite the presence of a multiple-period disturbance.