Abstract
Skid-steered vehicles (SSV) are gaining huge importance in the market due to their applications like construction, agricultural work, material handling etc. The accuracy of performing such tasks require a robust control algorithm. The design of such controller is very challenging task due to external disturbances caused by wheel-ground interaction and aerodynamic effects. This paper proposes robust fractional and integral order fuzzy sliding mode controllers (FSMC, FFSMC) for a skid-steered vehicles with varying coefficient of friction and a displaced center of gravity (CG). FFSMC controller reduces the outcome of forces generated as a result of ground tire interaction during skidding and friction variations. The proposed controllers are implemented for a four-wheel SSV under high-speed turning motion. A simulation environment is constructed by implementing the SSV dynamics with wheel-road model and the performance of the proposed algorithms is tested. The simulation test is conducted for a Pioneer-3AT (P-3AT) robot SSV vehicle with displaced CG and variable coefficient of tires friction. Simulation results demonstrate the efficiency of the proposed FFSMC algorithm in term of reduced state errors and minimum chattering. The proposed controller compensates the effect of different responses of the wheels generated as a result of variable CG. The chattering phenomenon generated by conventional SMCs is also minimized by fuzzy tuning approach.
Highlights
The simulation analysis is conducted and the performance of fuzzy SMC (FSMC) and Fractional order FSMC algorithms is compared with the conventional SMC controller
The proposed controllers are tested under variable center of gravity (CG) and different ground friction coefficient
TM-Easy tire model is utilized, and robustness of the proposed controllers is evaluated with different road tire frictional coefficient and variable CG
Summary
This paper proposes robust fractional and integral order fuzzy sliding mode controllers (FSMC, FFSMC) for a skid-steered vehicles with varying coefficient of friction and a displaced center of gravity (CG). FFSMC controller reduces the outcome of forces generated as a result of ground tire interaction during skidding and friction variations. A simulation environment is constructed by implementing the SSV dynamics with wheel-road model and the performance of the proposed algorithms is tested. Motion control of skid-steered vehicle (SSV) is a challenging task due to the nonlinearities arising as a result of slip and braking phenomena. The change in coefficient of friction due to the change in surface greatly affects the wheel dynamics It causes unequal angular accelerations at SSV tires which results in vehicle skidding.
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