{"title":"Stabilization of nonholonomic mobile robots by a GA-based fuzzy sliding mode control","authors":"Wei-Ming Lee, Han-Pang Huang","doi":"10.1109/AFSS.1996.583639","DOIUrl":null,"url":null,"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.","PeriodicalId":197019,"journal":{"name":"Soft Computing in Intelligent Systems and Information Processing. Proceedings of the 1996 Asian Fuzzy Systems Symposium","volume":"32 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1996-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"6","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Soft Computing in Intelligent Systems and Information Processing. Proceedings of the 1996 Asian Fuzzy Systems Symposium","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AFSS.1996.583639","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 6
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.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
