基于代理的轮式移动机器人Magellan Pro模糊滑模控制器

2015 International Conference on Advanced Robotics (ICAR) Pub Date : 2015-07-27 DOI:10.1109/ICAR.2015.7251427

Hasan İhsan Turhan

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引用次数: 0

摘要

本文介绍了基于代理的模糊滑模控制(PB-FSMC)概念及其在轮式移动机器人Magellan Pro上的应用。给出了轮式移动机器人的运动学和动力学模型，并对这些模型的控制器设计进行了详细的说明。为了验证所设计控制器的可行性和有效性，在仿真环境中将PB-FSMC与模糊滑模控制(FSMC)技术进行了比较。

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Proxy based-fuzzy sliding mode controller for wheeled mobile robot Magellan Pro

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.

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2015 International Conference on Advanced Robotics (ICAR)

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