Robust Tracking Control Using Fuzzy Disturbance Observer for Wheeled Mobile Robots with Skidding and Slipping | Zendy

Hyo-Seok Kang | Zendy; ChangHo Hyun | Zendy; SeungWoo Kim | Zendy

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Robust Tracking Control Using Fuzzy Disturbance Observer for Wheeled Mobile Robots with Skidding and Slipping

Author(s) -

Hyo-Seok Kang,

ChangHo Hyun,

SeungWoo Kim

Publication year - 2014

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/58401

Subject(s) - slipping , control theory (sociology) , computer science , mobile robot , fuzzy logic , lyapunov stability , disturbance (geology) , controller (irrigation) , stability (learning theory) , robustness (evolution) , robot , observer (physics) , tracking (education) , robust control , fuzzy control system , control system , control (management) , artificial intelligence , mathematics , engineering , pedagogy , chemistry , biology , psychology , paleontology , biochemistry , geometry , quantum mechanics , machine learning , agronomy , physics , electrical engineering , gene

This paper proposes a robust tracking controller based on the Fuzzy Disturbance Observer (FDO) for a Wheeled Mobile Robot (WMR) with unknown skidding and slipping. The proposed method provides disturbance-free techniques for stability analysis. In our previous work [1], we proposed an extended state-observer approach to robust tracking control for wheeled mobile robots with skidding and slipping. Even though satisfying performances were shown and the proposed method was verified in [1], the derivatives of disturbance should go to zero as time passes in order to guarantee performance. This is a very critical assumption. The method proposed in this paper overcomes this problem using universal approximation with a fuzzy model. Thus, the condition that disturbance should disappear with time is not required anymore. Furthermore, the proposed method can be used more widely than that shown in the previous work. This is guaranteed by a Lyapunov-theory-based stability analysis, and performance is verified by simulation results

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