Track Following Control of Wheeled Mobile Robot Based on Adaptive Fuzzy Sliding-Mode Controller

• Main Authors: Chin-Ming Ju, 朱健銘
• Other Authors: 姚立德
• Format: Others
• Language: zh-TW
• Published: 2011
• Online Access: http://ndltd.ncl.edu.tw/handle/s53u8r

碩士 === 國立臺北科技大學 === 自動化科技研究所 === 99 === This research purpose is a control algorithm based on adaptive fuzzy sliding-mode controller to control the linear and angular velocities of nonholonomic constraint WMRs. Path Following is solved by kinematic controller and dynamic model of nonholonomic constraint WMRs. Actually, in path tracking, using adaptive fuzzy sliding-mode control can solve nonholonomic constraint WMRs with uncertain structure and external disturbance. The use of sliding-mode control is to simplify the controller that is properties such as insensitivity to parameter variations and external disturbance rejection. Chattering phenomenon is solved by adaptive fuzzy control. Stability analysis is performed with the Lyapunov function to derive adaptive law. With modulated membership functions, the controller is more complete. Finally in indoor locating system, it can achieve the goal of controlling nonholonomic constraint WMRs with adaptive fuzzy sliding-mode controller for path tracking.