Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot | Zendy

Hafedh Abid | Zendy

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Takagi–Sugeno Fuzzy Controller and Sliding Mode Controller for a Nonholonomic Mobile Robot

Author(s) -

Hafedh Abid

Publication year - 2021

Publication title -

mathematical problems in engineering

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.262

H-Index - 62

eISSN - 1026-7077

pISSN - 1024-123X

DOI - 10.1155/2021/7703165

Subject(s) - control theory (sociology) , kinematics , controller (irrigation) , mobile robot , nonholonomic system , fuzzy logic , control engineering , sliding mode control , lyapunov stability , fuzzy control system , lyapunov function , mode (computer interface) , stability (learning theory) , engineering , computer science , robot , control (management) , nonlinear system , artificial intelligence , physics , classical mechanics , quantum mechanics , agronomy , biology , operating system , machine learning

This paper focuses on the nonholonomic wheeled mobile robot. We have presented a scheme to develop controllers. Two controllers have been developed. The first concerns the kinematic behavior, while the second relates to the dynamic behavior of the mobile robot. For the kinematic controller, we have used a Takagi–Sugeno fuzzy system to overcome the nonlinearities present in model, whereas for the second controller, we have used the sliding mode approach. The sliding surface has the identical structure as the proportional integral controller. The stability of the system has been proved based on the Lyapunov approach. The simulation results show the efficiency of the proposed control laws.

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