{"title":"全向移动机器人积分模糊终端滑模控制器设计","authors":"Chi-Hua Liu, S. Tsai, Yu-An Chen, Chin-Sheng Chen, Chih-Chin Wen, Ming-Ying Hsiao","doi":"10.1109/RVSP.2013.51","DOIUrl":null,"url":null,"abstract":"In this paper, an integral fuzzy terminal sliding mode control (IFTSMC) scheme is proposed for trajectory control of an omni-directional mobile robot (ODMR). This control scheme combines the techniques of terminal attractor approach, integral sliding-mode control and fuzzy logic control which can drive the posture error and velocity error to zero at finite time. All the simulation results demonstrate the effectiveness of the proposed control method.","PeriodicalId":6585,"journal":{"name":"2013 Second International Conference on Robot, Vision and Signal Processing","volume":"29 1","pages":"190-195"},"PeriodicalIF":0.0000,"publicationDate":"2013-12-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Design of Integral Fuzzy Terminal Sliding-Mode Controller for Omni-directional Mobile Robots\",\"authors\":\"Chi-Hua Liu, S. Tsai, Yu-An Chen, Chin-Sheng Chen, Chih-Chin Wen, Ming-Ying Hsiao\",\"doi\":\"10.1109/RVSP.2013.51\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"In this paper, an integral fuzzy terminal sliding mode control (IFTSMC) scheme is proposed for trajectory control of an omni-directional mobile robot (ODMR). This control scheme combines the techniques of terminal attractor approach, integral sliding-mode control and fuzzy logic control which can drive the posture error and velocity error to zero at finite time. All the simulation results demonstrate the effectiveness of the proposed control method.\",\"PeriodicalId\":6585,\"journal\":{\"name\":\"2013 Second International Conference on Robot, Vision and Signal Processing\",\"volume\":\"29 1\",\"pages\":\"190-195\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2013-12-10\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2013 Second International Conference on Robot, Vision and Signal Processing\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/RVSP.2013.51\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2013 Second International Conference on Robot, Vision and Signal Processing","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/RVSP.2013.51","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design of Integral Fuzzy Terminal Sliding-Mode Controller for Omni-directional Mobile Robots
In this paper, an integral fuzzy terminal sliding mode control (IFTSMC) scheme is proposed for trajectory control of an omni-directional mobile robot (ODMR). This control scheme combines the techniques of terminal attractor approach, integral sliding-mode control and fuzzy logic control which can drive the posture error and velocity error to zero at finite time. All the simulation results demonstrate the effectiveness of the proposed control method.
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