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ISSN : 1598-6721(Print)
ISSN : 2288-0771(Online)
The Korean Society of Manufacturing Process Engineers Vol.13 No.3 pp.28-34
 

Trajectory Tracking Control for Two Wheeled Mobile Robot using Fuzzy Sliding Mode Control based Hyperbolic Function

Lim, Jong-Uk,Lee, Sang-Jae,Chai, Chang-Hyun,

Abstract

In this paper, we propose a trajectory tracking controller for a two-wheeled mobile robot (WMR) with nonholonomic constraints using a fuzzy sliding-mode controller-based hyperbolic function. The proposed controller is composed of two separate controllers. The sliding-mode controller is used for attitude control of the WMR, and the fuzzy controller-based hyperbolic function is designed to adjust the reach time of the sliding-mode control. Simulation results on a linear and a circular trajectory show that the proposed controller improves the control performance. The proposed controller reduces the reach time by as much as 47% compared to the controller proposed by Xie et al.

하이퍼볼릭 함수 기반의 퍼지 슬라이딩 모드 제어를 이용한 2바퀴 이동로봇의 경로 추종제어

임종욱,이상재,채창현,

초록