Proxy Based-Fuzzy Sliding Mode Controller for Wheeled Mobile Robot Magellan Pro

被引：0
|
作者：
Turhan, Hasan Ihsan [1 ]
机构：
[1] Middle East Tech Univ, Dept Elect & Elect Engn, Ankara, Turkey
来源：
PROCEEDINGS OF THE 17TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS (ICAR) | 2015年
关键词：
wheeled mobile robot kinematics; wheeled mobile robot dinamics; fuzzy sliding mode control; proxy based - fuzzy sliding mode control; DESIGN;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In this paper, proxy based - fuzzy sliding mode control (PB-FSMC) concept and application of this new concept on wheeled mobile robot (WMR) Magellan Pro are presented. Kinematic and dynamic models of wheeled mobile robot are given and controller design for these models are developed and explained in detail. In order to examine feasibility and validity of the designed controller, PB-FSMC is compared with the fuzzy sliding mode control (FSMC) technique in a simulation environment.
引用
收藏
页码：15 / 20
页数：6
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