EP-based kinematic control and adaptive fuzzy sliding-mode dynamic control for wheeled mobile robots

Chih Yang Chen, Tzuu Hseng S. Li, Ying Chieh Yeh

Research output: Contribution to journalArticlepeer-review

89 Citations (Scopus)

Abstract

This paper proposes a complete control law comprising an evolutionary programming based kinematic control (EPKC) and an adaptive fuzzy sliding-mode dynamic control (AFSMDC) for the trajectory-tracking control of nonholonomic wheeled mobile robots (WMRs). The control gains for kinematic control (KC) are trained by evolutionary programming (EP). The proposed AFSMDC not only eliminates the chattering phenomenon in the sliding-mode control, but also copes with the system uncertainties and external disturbances. Additionally, the convergence of trajectory-tracking errors is proved by the Lyapunov stability theory. Computer simulations are presented to confirm the effectiveness of the proposed complete control law. Finally, real-time experiments are done in the test field to demonstrate the feasibility of real WMR maneuvers.

Original languageEnglish
Pages (from-to)180-195
Number of pages16
JournalInformation sciences
Volume179
Issue number1-2
DOIs
Publication statusPublished - 2009 Jan 2

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Theoretical Computer Science
  • Computer Science Applications
  • Information Systems and Management
  • Artificial Intelligence

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