scholarly journals PD Terminal Sliding Mode Control Using Fuzzy Genetic Algorithm for Mobile Robot in Presence of Disturbances

2018 ◽  
Vol 12 (2) ◽  
pp. 52-60
Author(s):  
Walid Benaziza ◽  
Ali Mallem ◽  
Noureddine Slimane
Keyword(s):  
Genetic Algorithm ◽  
Sliding Mode Control ◽  
Mobile Robot ◽  
Sliding Mode ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Fuzzy Genetic Algorithm ◽  
Fuzzy Genetic

Non-singular terminal sliding mode control design for wheeled mobile manipulator

2017 ◽  
Vol 44 (4) ◽  
pp. 501-511 ◽  
Author(s):  
Moharam Habibnejad Korayem ◽  
Reza Shiri ◽  
Saeed Rafee Nekoo ◽  
Zohair Fazilati
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robot ◽  
Sliding Mode ◽  
Center Of Mass ◽  
Terminal Sliding Mode Control ◽  
Sliding Surface ◽  
Terminal Sliding Mode ◽  
Content Type ◽  
Mode Control ◽  
Mobile Base

Purpose The purpose of this paper is to propose an indirect design for sliding surface as a function of position and velocity of each joint (for mounted manipulator on base) and center of mass of mobile base which includes rotation of wheels. The aim is to control the mobile base and its mounted arms using a unified sliding surface. Design/methodology/approach A new implementation of sliding mode control has been proposed for wheeled mobile manipulators, regulation and tracking cases. In the conventional sliding mode design, the position and velocity of each coordinate are often considered as the states in the sliding surface, and consequently, the input control is found based on them. A mobile robot consisted of non-holonomic constraints, makes the definition of the sliding surface more complex and it cannot simply include the coordinates of the system. Findings Formulism of both sliding mode control and non-singular terminal sliding mode control were presented and implemented on Scout robot. The simulations were validated with experimental studies, which led to satisfactory analysis. The non-singular terminal sliding mode control actually had a better performance, as it was illustrated that at time 10 s, the error for that was only 8.4 mm, where the error for conventional sliding mode control was 11.2 mm. Originality/value This work proposes sliding mode and non-singular terminal sliding mode control structure for wheeled mobile robot with a sliding surface including state variables: center of mass of base, wheels’ rotation and arm coordinates.

Nonsingular Terminal Sliding Mode Control of Mobile Robot Using Support Vector Machines

2012 ◽  
Vol 190-191 ◽  
pp. 705-709
Author(s):  
Xi Ru Wu ◽  
Yao Nan Wang
Keyword(s):  
Support Vector Machines ◽  
Sliding Mode Control ◽  
Mobile Robot ◽  
Sliding Mode ◽  
Support Vector ◽  
Terminal Sliding Mode Control ◽  
Terminal Sliding Mode ◽  
Mode Control ◽  
Nonsingular Terminal Sliding Mode ◽  
Vector Machines

In this paper, nonsingular terminal sliding mode control strategies are originally presented for mobile robot in the presence of uncertainties and disturbances. The support vector machines is used to approximate an unknown controlled system from the strategic manipulation of the model errors. Based on the Lyapunov stability theory, it is shown that the proposed controller can prove the stability of the closed-loop system and guarantee tracking performance of robotic system. Finally, simulation results validate the superior control performance of the proposed control method.

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