Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot

Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot

This paper focuses on the nonholonomic wheeled mobile robot. We have presented a scheme to develop controllers. Two controllers have been developed. The first concerns the kinematic behavior, while the second relates to the dynamic behavior of the mobile robot. For the kinematic controller, we have...

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Main Author: Hafedh Abid
Format: Article
Language:English
Published: Hindawi Limited 2021-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2021/7703165
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spelling doaj-267cc64b5f024cd1942e8e88cbf5fe2b2021-06-28T01:51:48ZengHindawi LimitedMathematical Problems in Engineering1563-51472021-01-01202110.1155/2021/7703165Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile RobotHafedh Abid0Laboratory of Sciences and Techniques of Automatic Control and Computer Engineering (Lab-STA) SfaxThis paper focuses on the nonholonomic wheeled mobile robot. We have presented a scheme to develop controllers. Two controllers have been developed. The first concerns the kinematic behavior, while the second relates to the dynamic behavior of the mobile robot. For the kinematic controller, we have used a Takagi–Sugeno fuzzy system to overcome the nonlinearities present in model, whereas for the second controller, we have used the sliding mode approach. The sliding surface has the identical structure as the proportional integral controller. The stability of the system has been proved based on the Lyapunov approach. The simulation results show the efficiency of the proposed control laws.http://dx.doi.org/10.1155/2021/7703165
collection DOAJ
language English
format Article
sources DOAJ
author Hafedh Abid
spellingShingle Hafedh Abid
Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot
Mathematical Problems in Engineering
author_facet Hafedh Abid
author_sort Hafedh Abid
title Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot
title_short Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot
title_full Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot
title_fullStr Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot
title_full_unstemmed Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot
title_sort takagi–sugeno fuzzy controller and sliding mode controller for a nonholonomic mobile robot
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1563-5147
publishDate 2021-01-01
description This paper focuses on the nonholonomic wheeled mobile robot. We have presented a scheme to develop controllers. Two controllers have been developed. The first concerns the kinematic behavior, while the second relates to the dynamic behavior of the mobile robot. For the kinematic controller, we have used a Takagi–Sugeno fuzzy system to overcome the nonlinearities present in model, whereas for the second controller, we have used the sliding mode approach. The sliding surface has the identical structure as the proportional integral controller. The stability of the system has been proved based on the Lyapunov approach. The simulation results show the efficiency of the proposed control laws.
url http://dx.doi.org/10.1155/2021/7703165
work_keys_str_mv AT hafedhabid takagisugenofuzzycontrollerandslidingmodecontrollerforanonholonomicmobilerobot
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