Title :
Proxy based-fuzzy sliding mode controller for wheeled mobile robot Magellan Pro
Author :
Turhan, Hasan Ihsan
Author_Institution :
Electrical and Electronics Engineering Department, Middle East Technical University, Ankara/Turkey
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.
Keywords :
Fuzzy control; Kinematics; Mathematical model; Mobile robots; Sliding mode control; Wheels; fuzzy sliding mode control; proxy based - fuzzy sliding mode control; wheeled mobile robot dinamics; wheeled mobile robot kinematics;
Conference_Titel :
Advanced Robotics (ICAR), 2015 International Conference on
Conference_Location :
Istanbul, Turkey
DOI :
10.1109/ICAR.2015.7251427
