A Network-Based Fuzzy Decentralized Sliding-Mode Control for Car-Like Mobile Robots

摘要

In this paper, the trajectory tracking of a car-like mobile robot (CLMR) via network-based fuzzy decentralized sliding-mode control (NBFDSMC) was developed. Based on the upper bound of system knowledge with a little trial-and-error, the fuzzy decentralized sliding-mode control (FDSMC) for the motor was achieved. The controls of steering angle and angular (or linear) velocity of a CLMR were obtained through the modified scaling factors of the motor. Due to the delay transmission of a signal through an Internet, a revision of FDSMC (i.e., NBFDSMC) with suitable sampling interval, according to the quality of service (QoS), was accomplished. Then the control input was transmitted to the CLMR by a wireless device. The proposed control could track a reference trajectory without the requirement of a mathematical model. Only the information of the upper bound of system knowledge was required to select suitable scaling factors sucb that an excellent performance was accomplished. A sequence of experiments was carried out to evaluate the usefulness of the proposed control system