Disturbances Elimination with Fuzzy Sliding Mode Control for Mobile Robot Trajectory Tracking

Advances in Electrical and Electronic Engineering

Noureddine Slimane¹  Walid Benaziza²  Ali Mallem² 

[1] Advanced Electronics Laboratory, Faculty of Technology, University of Batna 2, Route de Constantine 53, Fesdis, Batna 05078, Algeria;Electronics Department, Faculty of Technology, University of Batna 2, Route de Constantine 53, Fesdis, Batna 05078, Algeria;

关键词: fuzzy rule;    global terminal sliding mode;    lyapunov theory;    mobile robot.;   

DOI  :  10.15598/aeee.v16i3.2767

来源: DOAJ

【 摘 要 】

The disturbances are the significant issue for the trajectory tracking of mobile robots. Therefore, an adequate control law is presented in this paper and this one is based on Global Terminal Sliding Mode (GTSM) with fuzzy control. This control law aims to guarantee the avoidance of the kinematic disturbances which are injected in the angular and linear velocities, respectively. Moreover, the dynamic model based on exponential reaching law is presented to avoid the uncertainties. The control law provides the asymptotic stability by taking into account the fuzzy rules and Lyapunov theory. Thus, the chattering phenomenon should be avoided. The simulation works prove the robustness of the proposed control law by considering the disturbances function and the robot can follow the desired trajectories.

【 授权许可】

Unknown