Stabilization of nonholonomic mobile robots by a GA-based fuzzy sliding mode control
Resource
Fuzzy Systems Symposium, 1996. 'Soft Computing in Intelligent Systems and Information Processing'., Proceedings of the 1996 Asian
Journal
Fuzzy Systems Symposium
Pages
-
Date Issued
1996-12
Date
1996-12
Author(s)
Lee, Wei-Ming
DOI
N/A
Abstract
In this study, fuzzy logic control principle and sliding mode control theory are combined to stabilize a mobile robot under nonholonomic kinematic constraints. In order to improve the tracking performance, the scaling factors of FLC are searched by genetic algorithms (GAs). The simulation results show that all three control approaches, SMC (sliding mode control), FSMC (fuzzy-SMC) and GA-FSMC (GA-based FSMC) can stabilize the mobile robot to the origin with /spl phi/=0. However the GA-FSMC provides a systematic way to search the scaling factors, and thus improves the transient performance of the system response and reduces the path length for navigation.
SDGs
Type
journal article
File(s)![Thumbnail Image]()
Loading...
Name
00583639.pdf
Size
309.59 KB
Format
Adobe PDF
Checksum
(MD5):ab570d1b42cedb9f22d184204bfb7947