Journal of the Korean Society of Manufacturing Process Engineers (한국기계가공학회지)

The Korean Society of Manufacturing Process Engineers (한국기계가공학회)
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Trajectory Tracking Control for Two Wheeled Mobile Robot using Fuzzy Sliding Mode Control based Hyperbolic Function

하이퍼볼릭 함수 기반의 퍼지 슬라이딩 모드 제어를 이용한 2바퀴 이동로봇의 경로 추종제어

  • Lim, Jong-Uk (Department of Electronic Engineering, Graduate School Kumoh National Institute of Technology) ;
  • Lee, Sang-Jae (School of Electronic Engineering, Kumoh National Institute of Technology) ;
  • Chai, Chang-Hyun (School of Electronic Engineering, Kumoh National Institute of Technology)
  • 임종욱 (금오공과대학교 일반대학원 전자공학과) ;
  • 이상재 (금오공과대학교 전자공학부) ;
  • 채창현 (금오공과대학교 전자공학부)
  • Received : 2014.06.09
  • Accepted : 2014.06.27
  • Published : 2014.06.30
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Abstract

In this paper, we propose a trajectory tracking controller for a two-wheeled mobile robot (WMR) with nonholonomic constraints using a fuzzy sliding-mode controller-based hyperbolic function. The proposed controller is composed of two separate controllers. The sliding-mode controller is used for attitude control of the WMR, and the fuzzy controller-based hyperbolic function is designed to adjust the reach time of the sliding-mode control. Simulation results on a linear and a circular trajectory show that the proposed controller improves the control performance. The proposed controller reduces the reach time by as much as 47% compared to the controller proposed by Xie et al.

Keywords

References

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