Abstract
This paper presents robust fuzzy path tracking control of Differential Wheeled Mobile Robot (DWMR) with bounded disturbances and uncertainties. The proposed controller is based on dynamic model of robot and actuators. The dynamic sliding mode control and fuzzy logic methods are used to computing the control voltage. This later ensures the convergence of trajectory and velocity errors to zero. The effect of chattering phenomenon is reduced by adjusting the switching control law adaptively. The Lyapunov theory is used to verify the stability of the proposed controller. Finally, to demonstrate the effectiveness of the proposed method, we use the simulations in the Matlab/Simulink environment.
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Moudoud, B., Aissaoui, H., Diany, M. (2021). Robust Adaptive Fuzzy Path Tracking Control of Differential Wheeled Mobile Robot. In: Masrour, T., Cherrafi, A., El Hassani, I. (eds) Artificial Intelligence and Industrial Applications. A2IA 2020. Advances in Intelligent Systems and Computing, vol 1193. Springer, Cham. https://doi.org/10.1007/978-3-030-51186-9_15
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DOI: https://doi.org/10.1007/978-3-030-51186-9_15
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