Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Robust Adaptive Fuzzy Tracking Control Using a FBFN for a Mobile Robot with Actuator Dynamics

구동기 동역학을 가지는 이동 로봇에 대한 FBFN을 이용한 강인 적응 퍼지 추종 제어

  • 신진호 (동의대학교 메카트로닉스공학과) ;
  • 김원호 (동의대학교 메카트로닉스공학과) ;
  • 이문노 (동의대학교 컴퓨터공학과)
  • Received : 2009.10.30
  • Accepted : 2010.01.11
  • Published : 2010.04.01
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Abstract

This paper proposes a robust adaptive fuzzy tracking control scheme for a nonholonomic mobile robot with external disturbances as well as parameter uncertainties in the robot kinematics, the robot dynamics, and the actuator dynamics. In modeling a mobile robot, the actuator dynamics is integrated with the robot kinematics and dynamics so that the actuator input voltages are the control inputs. The presented controller is designed based on a FBFN (Fuzzy Basis Function Network) to approximate an unknown nonlinear dynamic function with the uncertainties, and a robust adaptive input to overcome the uncertainties. When the controller is designed, the different parameters for two actuator models in the actuator dynamics are taken into account. The proposed control scheme does not require the kinematic and dynamic parameters of the robot and actuators accurately. It can also alleviate the input chattering and overcome the unknown friction force. The stability of the closed-loop control system including the kinematic control system is guaranteed by using the Lyapunov stability theory and the presented adaptive laws. The validity and robustness of the proposed control scheme are shown through a computer simulation.

Keywords

Acknowledgement

Supported by : 동의대학교

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