Design of an Adaptive Fuzzy Sliding Mode Control with Neuro-Fuzzy system for control of a differential drive wheeled mobile robot

Tilahun, Aderajew Ashagrie; Desta, Tilahun Weldcherkos; Salau, Ayodeji Olalekan; Negash, Lebsework

doi:10.1080/23311916.2023.2276517

Cited by 3 publications

(2 citation statements)

References 19 publications

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“…Another example is the paper by Tilahun et al, 2023 [22], in which adaptive fuzzy control with a neuro-fuzzy system is used to control the movement of a three-wheeled differentially driven robot. In this case, no lateral slip motion and a pure rolling constraint are assumed, which is reasonable due to the kinematic structure of the robot and works well in the case of low velocities of the robot's movement.…”

Section: Motion Control Of Wheeled Mobile Robotsmentioning

confidence: 99%

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Model-Based Analysis of the Accuracy of Tracking Control and Energy Efficiency of a Six-Wheeled Skid-Steered Robot

Trojnacki

2024

Applied Sciences

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This article concerns the modeling and motion control of a mobile robot with six independently driven and non-steered wheels. The main research issue is analyzing the influence of the structure of the control system and wheel track on the control accuracy and energy efficiency during robot motion on horizontal paved ground. For this purpose, the kinematic relationships for the robot are discussed and a simplified dynamics model for control applications is developed. The robot’s dynamics model takes into account the most important phenomena of the wheel interaction with the paved ground, including slip. In addition, it is supplemented with a model of the robot’s drive units. Two versions of the control system were adopted for analysis, i.e., with the wheels’ controller only and additionally equipped with a pose controller. Simulation studies were carried out for the developed robot dynamics model and the analyzed versions of the control system in order to investigate the influence of the track width of the wheels and the structure of the control system on motion accuracy and energy efficiency. In order to quantitatively compare the results for the analyzed solutions, quality indices were introduced. The results of the simulation research indicate the influence of the track width of the wheels on the accuracy of motion when using the wheels’ controller, as well as its impact on energy efficiency. Moreover, they show that it is possible to significantly improve the accuracy of motion by using an additional pose controller, which allows limiting the impact of the non-optimal geometric parameters of the robot and the slip of the wheels on trajectory tracking errors. However, the addition of the pose controller does not significantly affect the energy efficiency during the robot’s motion, which may be even worse in this case.

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Section: Motion Control Of Wheeled Mobile Robotsmentioning

confidence: 99%

“…In the relationship (22), there is a rotor current I i (A), which takes into account the efficiency factor of the transmission system η d (-), so the mechanical power resulting from driving the drive unit is correspondingly lower and is equal to τ i ω i (W).…”

Section: Model Of the Robot's Drive Unitsmentioning

confidence: 99%

Model-Based Analysis of the Accuracy of Tracking Control and Energy Efficiency of a Six-Wheeled Skid-Steered Robot

Trojnacki

2024

Applied Sciences

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Neural-based event-triggered observer design for adaptive sliding mode control of nonlinear networked control systems

Yang,

Fan,

Meng

et al. 2024

International Journal of Systems Science

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Exact linearization and control of a mobile robot for the inspection of soil resources in Solanum tuberosum crops

Pulido-Aponte,

Garzón-Castro

2024

Front. Robot. AI

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In recent years, the development of robots for agro-industrial applications, such as the cultivation of Solanum tuberosum potatoes, has aroused the interest of the academic and scientific communities. This is due, at least in part, to the complexity of modeling and robustly controlling some dynamics inherent to nonlinear behaviors normally attributed to the different technologies associated with the movement of these autonomous vehicles and their non-holonomic constraints. The different nonlinear dynamics of mobile robots are usually represented by state-space models. However, given some equilibrium and stability characteristics, the implementation of effective controllers for the robust parametric tracking and variation problem requires techniques that allow the operability of robots around regions of stable equilibrium. Feedback linearization control is one such technique that attempts to mathematically eliminate nonlinear expressions from the plant model. However, this technique requires an observable and controllable mathematical model. If there is some relationship between the model inputs and a controlled output that allows the relative degree of the control law to be determined, the controller design and implementation are posed as a linear issue. Flat filters developed from the generalized proportional integral control approach are an alternative that could facilitate the design of controllers for these linearized systems. From these flat filters, it is possible to obtain the transfer function of a controller without relying on the derivatives of the system output. This work proposes the design of a controller via exact linearization and its equivalent flat filter for a robot inspector of the soil resource of S. tuberosum crops in the department of Cundinamarca, Colombia. The actuator motion constraints resulted in a robot with two degrees of mobility and one non-holonomic constraint. Numerical validation of this system suggests that it can be an effective solution to the problem of tracking control at changing references by providing a system capable of navigating through crop rows. The results suggest correct tracking for linear and circular trajectories. However, the control lacks the ability to track spiral-type trajectories.

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Design of an Adaptive Fuzzy Sliding Mode Control with Neuro-Fuzzy system for control of a differential drive wheeled mobile robot

Cited by 3 publications

References 19 publications

Model-Based Analysis of the Accuracy of Tracking Control and Energy Efficiency of a Six-Wheeled Skid-Steered Robot

Model-Based Analysis of the Accuracy of Tracking Control and Energy Efficiency of a Six-Wheeled Skid-Steered Robot

Neural-based event-triggered observer design for adaptive sliding mode control of nonlinear networked control systems

Exact linearization and control of a mobile robot for the inspection of soil resources in Solanum tuberosum crops

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