{"title":"Proxy based-fuzzy sliding mode controller for wheeled mobile robot Magellan Pro","authors":"Hasan İhsan Turhan","doi":"10.1109/ICAR.2015.7251427","DOIUrl":null,"url":null,"abstract":"In this paper, proxy based - fuzzy sliding mode control (PB-FSMC) concept and application of this new concept on wheeled mobile robot (WMR) Magellan Pro are presented. Kinematic and dynamic models of wheeled mobile robot are given and controller design for these models are developed and explained in detail. In order to examine feasibility and validity of the designed controller, PB-FSMC is compared with the fuzzy sliding mode control (FSMC) technique in a simulation environment.","PeriodicalId":432004,"journal":{"name":"2015 International Conference on Advanced Robotics (ICAR)","volume":"65 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-07-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 International Conference on Advanced Robotics (ICAR)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICAR.2015.7251427","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 0
Abstract
In this paper, proxy based - fuzzy sliding mode control (PB-FSMC) concept and application of this new concept on wheeled mobile robot (WMR) Magellan Pro are presented. Kinematic and dynamic models of wheeled mobile robot are given and controller design for these models are developed and explained in detail. In order to examine feasibility and validity of the designed controller, PB-FSMC is compared with the fuzzy sliding mode control (FSMC) technique in a simulation environment.
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