- Tytuł:
- 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. - Powiązania:
- https://bibliotekanauki.pl/articles/971054.pdf
- Data publikacji:
- 2018
- Wydawca:
- Polska Akademia Nauk. Instytut Badań Systemowych PAN
- Tematy:
-
nonholonomic mobile robot
trajectory tracking
variable structure control
uncertainties and disturbances
fuzzy compensator
Lyapunov theory - Opis:
- 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.
- Źródło:
-
Control and Cybernetics; 2018, 47, 3; 239-275
0324-8569 - Pojawia się w:
- Control and Cybernetics
- Dostawca treści:
- Biblioteka Nauki
Artykuł