Tracking Trajectories of a Nonholonomic Mobile Robot Using Sliding Mode Fuzzy Controller R.Ouiguini, R.Bouzid, Y.Sellami
نویسندگان
چکیده
In this paper, a sliding mode fuzzy controller for a nonholonomic wheeled mobile robot is proposed for tracking desired trajectories. We know that sliding mode control can deal with non linearities of control system and is robust. However, it has drawbacks such as a chattering. So, we introduce a fuzzy logic in order to reduce this phenomenon. Two sliding mode fuzzy controllers (SMFC) are described in this paper. A SMFC with band layer and a SMFC with two input–single output (TISO). The two inputs are: p s , which corresponds to the distance between the state vector of error and the sliding line and d the Euclidean distance between the state vector of error and a vector normal to the sliding line; the output is the value of the command. Different simulations are performed to show the efficiency of the new controller especially the fuzzy sliding mode controlle r (TISO) in the tracking of desired trajectories for a mobile robot.
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