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amirkhani--a
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Adaptive fuzzy nonlinear sliding-mode controller for a car-like robot
, Article 5th IEEE Conference on Knowledge Based Engineering and Innovation, KBEI 2019, 28 February 2019 through 1 March 2019 ; 2019 , Pages 686-691 ; 9781728108728 (ISBN) ; Shojaeefard, M. H ; Amirkhani, A ; Behroozi, H ; Intelligent Systems Scientific Society of Japan; Iran Computer and Video Games Foundation; Islamic World Science Citation Center (ISC) ; Sharif University of Technology
Institute of Electrical and Electronics Engineers Inc
2019
Abstract
In this paper, a nonlinear controller, which can be updated online by means of fuzzy logic, has been proposed for tracking the trajectory of a car-like robot. The advantage of this control scheme is that it eliminates the effects of model disturbances and uncertainties, which cannot be avoided; and especially when we consider the difficult task of determining the exact kinematic and dynamic models of car-like robots. The proposed approach comprises a robust nonlinear section that uses the sliding mode control and a fuzzy section that can update, online, parameters of the nonlinear controller. The stability and the error convergence of the closed-loop system are verified through the Lyapunov...