非完整轮式移动机器人的模糊滑模控制

J. Keighobadi, Y. Mohamadi
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引用次数: 13

摘要

研究了非完整轮式移动机器人的完美轨迹跟踪问题。反馈线性化(FL)方法可以使wmr在期望的位置和方向轨迹上收敛。由于对外源信号的抵抗能力较弱,因此用滑模控制器(SMC)代替FL控制器。使用带饱和项的SMC不能消除高范围抖振;因此,提出了一种mamdani型模糊滑模控制器(FSMC)来减小抖振影响。仿真结果表明,本文提出的纯模糊SMCs算法相对于最近的FL算法具有优越性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Fuzzy Sliding Mode Control of non-holonomic Wheeled Mobile Robot
In this paper, perfect trajectory tracking of a non-holonomic Wheeled Mobile Robot (WMR) is developed. The Feedback Linearization (FL) methods may be used to make convergence of WMRs on desired position, and orientation trajectories. Due to the weak performances against exogenous signals, the FL controller is replaced by a Sliding Mode Controller (SMC). Using the SMC with a saturation term may not remove the high range chattering; therefore, a Mamdani-type Fuzzy Sliding Mode Controller (FSMC) is proposed to decrease the chattering effects. The superiority of the proposed pure and fuzzy SMCs to the recent FL method has been revealed through simulations.
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