A fuzzy sliding mode controller from a reduced order model: A mobile robot experimental application

Abstract

This paper presents a Sliding Mode Control with a Fuzzy PD+I surface for mobile robots that can be approximated by first-order-plus deadtime (FOPDT) models. The performance of this controller is compared with a Sliding Mode Control with a PID surface. An approximated model of a wheeled mobile robot is used in order to design the two controllers. The wheeled mobile robot is considered as two FOPDT processes. Simulation and experimental results are presented. The performance of the controllers is compared in terms of integral absolute error (IAE).