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
相关论文
共 50 条
  • [21] FUZZY TRAJECTORY TRACKING FOR AN AUTONOMOUS MOBILE ROBOT
    Fernandez Carames, Carlos
    Moreno Rodilla, Vidal
    Curto Diego, Belen
    Vicente Lober, Jose Andres
    ICINCO 2009: PROCEEDINGS OF THE 6TH INTERNATIONAL CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS, VOL 1: INTELLIGENT CONTROL SYSTEMS AND OPTIMIZATION, 2009, : 359 - 362
  • [22] Improving Trajectory Tracking of Differential Wheeled Mobile Robots With Enhanced GWO-Optimized Back-Stepping and FOPID Controllers
    Qiang, Li
    Tang, Hooi Hung
    Ahmad, Nur Syazreen
    IEEE ACCESS, 2025, 13 : 48872 - 48887
  • [23] Adaptive control of space robot system based on back-stepping design
    Ren, Yan-Qing
    Ma, Bao-Li
    Hangkong Xuebao/Acta Aeronautica et Astronautica Sinica, 2007, 28 (02): : 490 - 494
  • [24] Trajectory Tracking Control for a Mobile Robot Using Stochastic Fuzzy Controller
    Tang, Jun
    Watanabe, Keigo
    Nomiyama, Akira
    Journal of Robotics and Mechatronics, 1997, 9 (02): : 160 - 167
  • [25] Trajectory tracking control for mobile robot based on the fuzzy sliding mode
    Xie Mu-jun
    Li Li-ting
    Wang Zhi-qian
    PROCEEDINGS OF THE 10TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2012), 2012, : 2706 - 2709
  • [26] Mobile Robot Trajectory Tracking on Adaptive Binocular Vision and Fuzzy Control
    Hong, Huang
    Ting, Zhang
    CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS, 2009, : 632 - 635
  • [27] A Finite-Time Trajectory-Tracking Method for State-Constrained Flexible Manipulators Based on Improved Back-Stepping Control
    Zhang, Yiwei
    Zhang, Min
    Fan, Caixia
    Li, Fuqiang
    ACTUATORS, 2022, 11 (05)
  • [28] Trajectory tracking of underwater vehicle based on Back-Stepping neural network adaptive robust sliding mode control
    Li, Lian
    Li, Weijia
    He, Yuhang
    Wu, Yaozhong
    2018 IEEE 8TH INTERNATIONAL CONFERENCE ON UNDERWATER SYSTEM TECHNOLOGY: THEORY AND APPLICATIONS (USYS), 2018,
  • [29] Dynamic model-based back-stepping control design for-trajectory tracking of seabed tracked vehicles
    Hong Xiong
    Yuxiang Chen
    Yuxiao Li
    Hong Zhu
    Chunliang Yu
    Jingguo Zhang
    Journal of Mechanical Science and Technology, 2022, 36 : 4221 - 4232
  • [30] Dynamic model-based back-stepping control design for-trajectory tracking of seabed tracked vehicles
    Xiong, Hong
    Chen, Yuxiang
    Li, Yuxiao
    Zhu, Hong
    Yu, Chunliang
    Zhang, Jingguo
    JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY, 2022, 36 (08) : 4221 - 4232
12345