Abstract
This paper focuses on the nonholonomic wheeled mobile robot. We have presented a scheme to develop controllers. Two controllers have been developed. The first concerns the kinematic behavior, while the second relates to the dynamic behavior of the mobile robot. For the kinematic controller, we have used a Takagi–Sugeno fuzzy system to overcome the nonlinearities present in model, whereas for the second controller, we have used the sliding mode approach. The sliding surface has the identical structure as the proportional integral controller. The stability of the system has been proved based on the Lyapunov approach. The simulation results show the efficiency of the proposed control laws.
Highlights
The path of travel is considered as one of the critical problems in the field of mobile robotics. e trajectory tracking consists of guiding the robot through intermediate points to reach the final destination. is tracking is carried out under a constraint time, which means that the robot must reach the goal within a predefined time
The problem is treated as the tracking of a reference robot that moves to the desired trajectory with a certain rhythm. e real robot must follow precisely the reference and reduce the distance error, by varying its linear and angular velocities [1, 2]. ere are many works that have focused on tracking the trajectory of the mobile robots, and they consider the mobile robot as a particle; in this case, the inputs are velocities. eir aims are kinematic models
In [6], authors proposed a robust backstepping controller for the uncertain kinematic model of the wheeled mobile robot based on a nonlinear disturbance observer in order to cope with model uncertainties and the external disturbances
Summary
The path of travel is considered as one of the critical problems in the field of mobile robotics. e trajectory tracking consists of guiding the robot through intermediate points to reach the final destination. is tracking is carried out under a constraint time, which means that the robot must reach the goal within a predefined time. Some works consider the kinematic aspect and the dynamic aspect for the mobile robot. In this case, the actuator inputs signals are torques instead of velocities [4]. In [5], Lee et al suggest a technique for designing the tracking control of wheeled mobile robots based on a new sliding surface with an approach angle. In [6], authors proposed a robust backstepping controller for the uncertain kinematic model of the wheeled mobile robot based on a nonlinear disturbance observer in order to cope with model uncertainties and the external disturbances. In [9], the proposed controller combines nonlinear time varying feedback with an integral sliding mode controller. e latter is obtained by introducing an integral term in the switching manifold
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