제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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- Pages.265-270
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- 1998
A fuzzy Sliding Mode Control of Wheeled Mobile Robot with a Differential Drive
- Kang, Young-Hoon (Department of Electrical Engineering, Korea Advanced Institute of Science and Technology) ;
- Lee, Ju-Jang (Department of Electrical Engineering, Korea Advanced Institute of Science and Technology)
- 발행 : 1998.10.01
초록
In this paper we introduce a modeling of wheeled mobile robot with a differential drive derived by R.M. DeSantis and using the dynamics model-ing with some disturbance term we control the wheeled mobile robot using fuzzy sliding mode control(FSMC) method. In a fuzzy control approach it is very difficult to prove the stability of the fuzzy controller. Therefore, to overcome that difficult proof of the stability in a fuzzy control method, we first propose a sliding mode controller and prove the stability of the proposed controller. Next, transforming the proposed sliding mode controller into a fuzzy sliding mode controller without changing the basic structure of the sliding mode con-troller, we easily obtain a fuzzy sliding mode con-troller(FSMC) whose stability is guaranteed with-out difficult stability proof procedure of the proposed FSMC.
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