EP-based kinematic control and adaptive fuzzy sliding-mode dynamic control for wheeled mobile robots

Design of an Adaptive Fuzzy Sliding Mode Control Using Supervisory Fuzzy Control for Micro-Electro-Mechanical Systems (MEMS) Z-Axis Gyroscope

“…Equivalently, the control objective can be stated in terms of a reference model (desired trajectory) as: (11) where, K d = diag{w 1 2 , w 2 2 }. Similar to (7), the reference model can be written as the following state space model: (12) In reference (Fei and Batur, 2009), the authors have presented some assumptions to consider matched and unmatched uncertainties and disturbances. However, some modifications should be done.…”

MAC Controller for Path Tracking of a Wheeled Mobile Robot in the Presence of Skidding Effects

“…Dinh, et al, [15] presented a differential sliding mode tracking controller for trajectory tracking of the three-wheeled mobile platform. Chen et al, [16] proposed a complete control law comprising a kinematic control and a sliding-mode dynamic control for the trajectory tracking control of nonholonomic WMRs. The assumptions of the nonholonomic constraints are still ideally satisfied even though the disturbance or parameter variation influences were considered in the above-mentioned papers.…”

Real Time Fuzzy Based Speed and Direction Angle Control of an Automated Guided Vehicle

“…Ancak, pratikte dinamik parametrelerin elde edilmesi zor ve sistemin tam olarak modellenmesi güç olduğundan, sistemin matematiksel modelinin kesin olarak bilinmesine gerek duymayan kontrolcüler önerilmiştir. Önerilen kontrolcü yapılarının karmaşıklığı ve uygulama zorlukları [13]- [15], gerçek zamanlı olarak çalışmalarında düşük performans sergilemeleri [16], [17] ve üretilen kontrol işaretlerinin yüksek osilasyon içermeleri [18], [19] gibi zorluklar bu kontrolcülerin uygulamalarda yaygın olarak kullanılmasını önlemiştir.…”