Adaptive fuzzy integral terminal sliding mode control of a nonholonomic wheeled mobile robot
type: Item
instance of: scholarly article
title: Adaptive fuzzy integral terminal sliding mode control of a nonholonomic wheeled mobile robot
zbMATH Open document ID: 1426.93212
DOI: 10.1155/2017/3671846
author: Shuying Peng
author: Wuxi Shi
published in: Mathematical Problems in Engineering
publication date: 2018-11-05T00:00:00Z
review text: Summary: In this paper, the trajectory tracking problem is investigated for a nonholonomic wheeled mobile robot with parameter uncertainties and external disturbances. In this strategy, combining the kinematic model with the dynamic model, the actuator voltage is employed as the control input, and the uncertainties are approximated by a fuzzy logic system. An auxiliary velocity controller is integrated with an adaptive fuzzy integral terminal sliding mode controller, and a robust controller is employed to compensate for the lumped errors. It is proved that all the signals in the closed system are bounded and the auxiliary velocity tracking errors can converge to a small neighborhood of the origin in finite time. As a result, the tracking position errors converge asymptotically to zeros with faster response than other existing controllers. Simulation results demonstrate the effectiveness of the proposed strategy.
Mathematics Subject Classification ID: 93C85
Mathematics Subject Classification ID: 93B12
Mathematics Subject Classification ID: 93C42
zbMATH DE Number: 6972014
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2017/3671846
OpenAlex ID: W2604844669
Wikidata QID: Q59147496
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description: scientific article; zbMATH DE number 6972014