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

被引：89

作者：

Chen, Chih-Yang ^{[1
]}

Li, Tzuu-Hseng S. ^{[1
]}

Yeh, Ying-Chieh ^{[1
]}

机构：

[1] Natl Cheng Kung Univ, Dept Elect Engn, AiRobots Lab, Tainan 701, Taiwan

来源：

INFORMATION SCIENCES | 2009年 / 179卷 / 1-2期

关键词：

Adaptive fuzzy sliding-mode controller; Dynamic control; Evolutionary programming; Kinematic control; Lyapunov method; Trajectory-tracking; WMRs; TRACKING CONTROL; NEURAL-NETWORKS; FEEDBACK LINEARIZATION; TRAJECTORY-TRACKING; NONLINEAR-SYSTEMS; CHAOTIC SYSTEMS; DESIGN; LOGIC; IMPLEMENTATION;

D O I：

10.1016/j.ins.2008.09.012

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

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 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. (c) 2008 Elsevier Inc. All rights reserved.

引用

页码：180 / 195

页数：16

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