Fuzzy back-stepping hybrid control method for mobile robot trajectory tracking

被引：0
|
作者：
Gao, Yan-Feng [1 ]
机构：
[1] Nanchang Hangkong Univ, Sch Aeronaut Mfg Engn, Nanchang 330063, Jiangxi, Peoples R China
来源：
DESIGN, MANUFACTURING AND MECHATRONICS (ICDMM 2015) | 2016年
关键词：
Mobile robot; trajectory tracking; fuzzy control;
D O I：
暂无
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
In this paper, a fuzzy back-stepping hybrid control method for mobile robot trajectory tracking is proposed. The finally outputs of the controller is obtained through two steps, in the first the outputs are computed by back-stepping technique and fuzzy logic controller respectively, and then the outputs are fused through Sugeno slid mode fuzzy method. The main advantages of this method include smooth change of velocity and small tracking error when the initial tracking error is large. The experiment results demonstrated the feasibility of this hybrid control method on the trajectory tracking of mobile robots.
引用
收藏
页码：279 / 288
页数：10
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