Interval type-2 adaptive fuzzy sliding-mode dynamic control design for wheeled mobile robots

Tzuu-Hseng S. Li, Ming Ying Hsiao, Chih Yang Chen

Research output: Contribution to journalArticlepeer-review

25 Citations (Scopus)

Abstract

A combined intelligent technique is proposed for controlling the trajectory-tracking of a nonholonomic wheeled mobile robot (WMR), which comprises kinematic 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 dynamic 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 simulations demonstrate the validity of the proposed method. The simulation results show that the tracking performance of the IT2-AFSMDC is better than that of the AFSMDC.

Original languageEnglish
Pages (from-to)268-275
Number of pages8
JournalInternational Journal of Fuzzy Systems
Volume10
Issue number4
Publication statusPublished - 2008 Dec 1

All Science Journal Classification (ASJC) codes

  • Software
  • Theoretical Computer Science
  • Computational Theory and Mathematics
  • Artificial Intelligence

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