{"title":"Time-varying fuzzy logic controller of skid-steering mobile robot based on Lyapunov stability","authors":"Fady Ibrahim, A. Abouelsoud, A. M. F. Elbab","doi":"10.1109/M2VIP.2016.7827299","DOIUrl":null,"url":null,"abstract":"A kinematic model of a skid-steering mobile robot (SSMR) is analyzed. The influence of relative position between the instantaneous center of rotation and SSMR center of mass is considered in the analysis. Then, a time-varying fuzzy logic controller based on Lyapunov stability criterion is designed. The closed loop system is simulated using Matlab-Simulink on point stabilization from different initial conditions. Results show that the proposed controller reaches almost zero steady state error with smooth trajectory.","PeriodicalId":125468,"journal":{"name":"2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","volume":"36 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 23rd International Conference on Mechatronics and Machine Vision in Practice (M2VIP)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/M2VIP.2016.7827299","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
A kinematic model of a skid-steering mobile robot (SSMR) is analyzed. The influence of relative position between the instantaneous center of rotation and SSMR center of mass is considered in the analysis. Then, a time-varying fuzzy logic controller based on Lyapunov stability criterion is designed. The closed loop system is simulated using Matlab-Simulink on point stabilization from different initial conditions. Results show that the proposed controller reaches almost zero steady state error with smooth trajectory.
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