Fuzzy Neural Network with Sliding-Mode Controller Applications to Mobile Robotic
نویسندگان
چکیده
This paper deals with the design of single fuzzy neural network (SFNN) with sliding mode control (SMC) systems by using the approach of sliding mode control. The fuzzy sliding mode control (FSMC) in the system guarantee the state can reach the user-defined surface in finite time and then it slides into the origin along the surface. The key idea is to apply parameters of the membership function of the fuzzy rule base are self-tuning with neural network (NN). They will change according to some tuning scheme. The initial fuzzy membership function can be given by human experts, and it is tuned automatically by the tuning scheme so as to eliminate the chattering effect of the system. Next, we will apply the single fuzzy neural network with sliding mode controller (SFNNSMC) to a nonlinear mobile robotic system. At last, experiment results show the feasibility of the method that used to verify the effectives and robustness. Key-Words: fuzzy, sliding, neural, mobile robotic
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