Adaptive Fuzzy Control of a Four-Wheeled Mobile Robot Subject to Wheel Slip

Q3 Mathematics

WSEAS Transactions on Systems and Control Pub Date : 2023-06-12 DOI:10.37394/23202.2023.22.61

Z. Hendzel, M. Trojnacki

引用次数: 0

Abstract

In this paper, the adaptive fuzzy tracking control of a four-wheeled mobile robot subject to wheels slip is considered. We proposed an adaptive scheme in that fuzzy logic approximators are used to approximate the unknown system functions in designing the adaptive tracking control of a mobile robot. Fuzzy systems are expressed as a series expansion of basis functions, to adaptively compensate for the mobile robot nonlinearities. The proposed control system works online, parameter adaptation is realized in every discrete step of the control process, and a preliminary learning phase of fuzzy system parameters is not required. The stability of the algorithm is established in the Lyapunov sense, with tracking errors converging to a neighborhood of zero. Simulation results illustrate the effectiveness of the approach.

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车轮滑移的四轮移动机器人自适应模糊控制

研究了车轮滑移情况下四轮移动机器人的自适应模糊跟踪控制问题。在设计移动机器人自适应跟踪控制时，提出了一种利用模糊逻辑逼近器逼近未知系统函数的自适应方案。将模糊系统表示为基函数的级数展开，对移动机器人的非线性进行自适应补偿。所提出的控制系统在线工作，在控制过程的每个离散步骤中实现参数自适应，并且不需要模糊系统参数的初步学习阶段。该算法在李雅普诺夫意义下具有稳定性，跟踪误差收敛到邻域为零。仿真结果表明了该方法的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

WSEAS Transactions on Systems and Control Mathematics-Control and Optimization

CiteScore

1.80

自引率

0.00%

发文量

期刊介绍： WSEAS Transactions on Systems and Control publishes original research papers relating to systems theory and automatic control. We aim to bring important work to a wide international audience and therefore only publish papers of exceptional scientific value that advance our understanding of these particular areas. The research presented must transcend the limits of case studies, while both experimental and theoretical studies are accepted. It is a multi-disciplinary journal and therefore its content mirrors the diverse interests and approaches of scholars involved with systems theory, dynamical systems, linear and non-linear control, intelligent control, robotics and related areas. We also welcome scholarly contributions from officials with government agencies, international agencies, and non-governmental organizations.