{"title":"Adaptive Fuzzy Control of a Four-Wheeled Mobile Robot Subject to Wheel Slip","authors":"Z. Hendzel, M. Trojnacki","doi":"10.37394/23202.2023.22.61","DOIUrl":null,"url":null,"abstract":"In this paper, the adaptive fuzzy tracking control of a four-wheeled mobile robot subject to wheels slip is considered. We proposed an adaptive scheme in that fuzzy logic approximators are used to approximate the unknown system functions in designing the adaptive tracking control of a mobile robot. Fuzzy systems are expressed as a series expansion of basis functions, to adaptively compensate for the mobile robot nonlinearities. The proposed control system works online, parameter adaptation is realized in every discrete step of the control process, and a preliminary learning phase of fuzzy system parameters is not required. The stability of the algorithm is established in the Lyapunov sense, with tracking errors converging to a neighborhood of zero. Simulation results illustrate the effectiveness of the approach.","PeriodicalId":39422,"journal":{"name":"WSEAS Transactions on Systems and Control","volume":"52 1","pages":""},"PeriodicalIF":0.0000,"publicationDate":"2023-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"WSEAS Transactions on Systems and Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.37394/23202.2023.22.61","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Mathematics","Score":null,"Total":0}
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Abstract
In this paper, the adaptive fuzzy tracking control of a four-wheeled mobile robot subject to wheels slip is considered. We proposed an adaptive scheme in that fuzzy logic approximators are used to approximate the unknown system functions in designing the adaptive tracking control of a mobile robot. Fuzzy systems are expressed as a series expansion of basis functions, to adaptively compensate for the mobile robot nonlinearities. The proposed control system works online, parameter adaptation is realized in every discrete step of the control process, and a preliminary learning phase of fuzzy system parameters is not required. The stability of the algorithm is established in the Lyapunov sense, with tracking errors converging to a neighborhood of zero. Simulation results illustrate the effectiveness of the approach.
期刊介绍：
WSEAS Transactions on Systems and Control publishes original research papers relating to systems theory and automatic control. We aim to bring important work to a wide international audience and therefore only publish papers of exceptional scientific value that advance our understanding of these particular areas. The research presented must transcend the limits of case studies, while both experimental and theoretical studies are accepted. It is a multi-disciplinary journal and therefore its content mirrors the diverse interests and approaches of scholars involved with systems theory, dynamical systems, linear and non-linear control, intelligent control, robotics and related areas. We also welcome scholarly contributions from officials with government agencies, international agencies, and non-governmental organizations.
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