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Adaptive fuzzy nonlinear sliding-mode controller for a car-like robot

Shirzadeh, M ; Sharif University of Technology | 2019

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  1. Type of Document: Article
  2. DOI: 10.1109/KBEI.2019.8734995
  3. Publisher: Institute of Electrical and Electronics Engineers Inc , 2019
  4. Abstract:
  5. 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 criterion. A fuzzy system is designed to deal with the chattering of the car-like robot. In addition to the gains of the sign function, there are also constant parameters in our controller, which are determined by using a genetic algorithm. To show the effectiveness of the proposed design, simulations are performed by considering un-ideal effects such as uncertainties and external disturbances. © 2019 IEEE
  6. Keywords:
  7. Nonlinear controller ; Sliding mode ; Automobiles ; Closed loop systems ; Computer circuits ; Engineering research ; Fuzzy logic ; Genetic algorithms ; Knowledge based systems ; Robots ; Sliding mode control ; Adaptive ; Car-like robot ; Constant parameters ; External disturbances ; Lyapunov criterion ; Non-linear controllers ; Nonlinear sliding mode ; Sliding modes ; Controllers
  8. Source: 5th IEEE Conference on Knowledge Based Engineering and Innovation, KBEI 2019, 28 February 2019 through 1 March 2019 ; 2019 , Pages 686-691 ; 9781728108728 (ISBN)
  9. URL: https://ieeexplore.ieee.org/abstract/document/8734995