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

研究成果: Article同行評審

94 引文 斯高帕斯(Scopus)

摘要

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.

原文English
頁(從 - 到)180-195
頁數16
期刊Information sciences
179
發行號1-2
DOIs
出版狀態Published - 2009 1月 2

All Science Journal Classification (ASJC) codes

  • 軟體
  • 控制與系統工程
  • 理論電腦科學
  • 電腦科學應用
  • 資訊系統與管理
  • 人工智慧

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