Mixed fuzzy sliding mode three-dimensional trajectory tracking control for a wheeled mobile robot

被引：0
|
作者：
Huang Yiqing [1 ]
Li Xiaofeng [1 ]
Wang Panpan [1 ]
Wei Lisheng [1 ]
Jiang Ming [1 ]
机构：
[1] Anhui Polytech Univ, Coll Elect Engn, Wuhu 241000, Peoples R China
来源：
2017 32ND YOUTH ACADEMIC ANNUAL CONFERENCE OF CHINESE ASSOCIATION OF AUTOMATION (YAC) | 2017年
关键词：
wheeled mobile robot; fuzzy sliding mode control; 3d trajectory tracking; DESIGN;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A three-dimensional (3d) trajectory tracking controller for a wheeled mobile robot via adaptive fuzzy sliding mode (AFSM) technique is designed in this paper. To begin, according to the coordinate transformation theory, the wheeled mobile robot dynamics equation and position equation are obtained. Then, the fuzzy sliding mode trajectory tracking controller is designed by fuzzy index reaching rate for the wheeled mobile robot system. Finally, compared with PID control method, the numerical simulation results show that proposed method has higher control precision and better convergence speed, and reduce chattering existing in conventional sliding mode control.
引用
收藏
页码：5 / 9
页数：5
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