Stabilization of nonholonomic mobile robots by a Ga-based fuzzy sliding mode control

被引：1
|
作者：
Lee, WM
Huang, HP
机构：
来源：
SOFT COMPUTING IN INTELLIGENT SYSTEMS AND INFORMATION PROCESSING | 1996年
关键词：
D O I：
10.1109/AFSS.1996.583639
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
In this study, fuzzy logic control principle and sliding mode control theory are combined to stabilize a mobile robot under nonholonomic kinematic constraints. In order to improve the tracking performance the scaling factors of FLC are searched by genetic algorithms (GAs). The simulation results show that all three control approaches, SMC (sliding mode control), FSMC (fuzzy-SMC) and GA-FSMC (GA-based FSMC) can stabilize the mobile robot to the origin with phi=0. However, the GA-FSMC provides a systematic way to search the scaling factors, and thus improves the transient performance of the system response and reduces the path length for navigation.
引用
收藏
页码：388 / 393
页数：6
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