OTHER
Design of Integral Fuzzy Terminal Sliding-Mode Controller for Omni-directional Mobile Robots
Chi-Hua Liu, Shun‐Hung Tsai, Yuan Chen, Chin‐Sheng Chen, Chih‐Chin Wen, Ming-Ying Hsiao
- Year
- 2013
- Citations
- 2
Abstract
In this paper, an integral fuzzy terminal sliding mode control (IFTSMC) scheme is proposed for trajectory control of an omni-directional mobile robot (ODMR). This control scheme combines the techniques of terminal attractor approach, integral sliding-mode control and fuzzy logic control which can drive the posture error and velocity error to zero at finite time. All the simulation results demonstrate the effectiveness of the proposed control method.
Keywords
Mobile robotTerminal (telecommunication)Control theory (sociology)Computer scienceController (irrigation)Fuzzy logicTerminal sliding modeRobotMode (computer interface)Integral sliding mode
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