Fault tolerant control of differential drive mobile robots using sliding mode controller

Yazdjerdi, Parisa; Meskin, Nader

doi:10.1109/icciautom.2017.8258691

Cited by 4 publications

(1 citation statement)

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“…In particular, the trajectory tracking control is a basic task to be solved for this class of robots. Recently, different strategies have been proposed to deal with this problem, such as sliding mode control (Mija et al, 2016), fault-tolerant control (Yazdjerdi and Meskin, 2017) and fractional order control (Rojas-Moreno and Perez-Valenzuela, 2017). Within this context, FLCs have also been applied in the last years, such as fuzzy-PD control (Alouache and Wu, 2018) and optimized FLC with Particle Swarm Optimization (Nurmaini and Setianingsih, 2018).…”

Section: Introductionmentioning

confidence: 99%

Real-Time Mamdani-type Fuzzy Maneuvering Control of a Differential-Drive Mobile Robot

Ushikoshi

Cardoso

Coutinho

et al. 2019

Anais Do 14º Simpósio Brasileiro De Automação Inteligente

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This paper concerns the real-time application of Mamdani-type Fuzzy Logic Controllers (FLCs) for maneuvering trajectory tracking of a differential-drive mobile robot, the Quanser QBot 2. Based on a recent fuzzy control strategy that allows the robot to move in both forward and backward directions (FB-Controller), a new FLC with sigmoidal and pi-shaped input membership functions is proposed, the FBm-Controller. The aim of this modification is providing smoother movements during the trajectory tracking, improving real-time performance. The proposal is compared with the FB-Controller and F-Controller, where the latter only allows forward movements. Simulations and real-time experiments performed on QBot 2 robot illustrate the advantages of FBm-Controller over the two other approaches.

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