Design of an Adaptive Fuzzy Sliding Mode Control with Neuro-Fuzzy system for control of a differential drive wheeled mobile robot

Abstract

This paper presents the design of a novel trajectory tracking control strategy and the development of a mathematical model for a non-holonomic differential-drive wheeled mobile robot. The proposed control system utilizes a dual-loop approach, where the inner loop controls the dynamics by employing Adaptive Fuzzy Sliding Mode Control (AFSMC), and the outer loop, handles kinematics by utilizing an Adaptive Neuro-Fuzzy Inference System ;(ANFIS). The ANFIS is employed to minimize the error between the actual and desired velocities, providing a desired input for the inner loop. Meanwhile, the AFSMC is used to effectively control the system dynamics. The use of these dual-loop controllers considerably improves the system’s overall efficiency. The inner controller compensates for dynamic disturbances, while the outer controller manages velocity errors. We integrate the actuator dynamics and the chopper effect of the wheels in the dynamics modeling, which helps to increase the models accuracy. MATLAB was used to implement the controller, while circular and eight-shaped trajectories were generated to assess the performance of the proposed controller. In addition, a comparative analysis of different controllers such as PID, SMC, AFSMC, and AFSMC with ANFIS was presented. The simulations were conducted under uncertainties, and the proposed controller is better than other controllers at tracking desired trajectories. The Lyapunov stability analysis is employed to verify the stability of the proposed controller. This paper shows that the proposed dual-loop controller is stable and more robust to internal parameter variation and external disturbance for the examined system. In general, the AFSMC with ANFIS is superior in trajectory tracking for the examined system compared to other controllers.