篇名 | Interval Type-2 Adaptive Fuzzy Sliding-Mode Dynamic Control Design for Wheeled Mobile Robots |
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卷期 | 10:4 |
作者 | Ming-Ying Hsiao 、 Chih-Yang Chen 、 Tzuu-Hseng S. Li |
頁次 | 268-275 |
關鍵字 | Adaptive fuzzy sliding-mode controller 、 in-terval type-2 fuzzy logic control 、 Lyapunov method 、 trajectory tracking 、 WMR 、 EI 、 SCI 、 SCIE 、 Scopus |
出刊日期 | 200812 |
A combined intelligent technique is proposed for controlling the trajectory-tracking of a nonholonomic wheeled mobile robot (WMR), which comprises ki-nematic control and an interval type-2 adaptive fuzzy sliding-mode dynamic control (IT2-AFSMDC). The kinematic model is introduced first, and then the control gains can be obtained from the back-stepping method as the input of the dynamic model. The IT2-AFSMDC is propounded for the dynamic part, a combination of the interval type-2 fuzzy logic control (IT2-FLC) and the adaptive fuzzy sliding-mode dy-namic control (AFSMDC), which inherits the benefits of these two methods, and adaptive law is introduced to cope with the uncertainties and disturbances of the system. The trajectory-tracking stability is proved by the Lyapunov stability analysis. Computer simula-tions demonstrate the validity of the proposed method. The simulation results show that the track-ing performance of the IT2-AFSMDC is better than that of the AFSMDC.