Title :
A TSK fuzzy model and adaptive sliding-mode controller design for four-Mecanum-wheel omni-directional mobile free-bases
Author :
Qi-Ye Zhang; Dan Li; Wen-Jing Pei; Ying-Min Jia
Author_Institution :
School of Mathematics and Systems Science, LMIB, Beihang University Beijing, China 100191
Abstract :
In this paper, we propose a Takagi-Sugeno-Kang (TSK) fuzzy model for a four-Mecanum-wheel omni-directional mobile free-base (4MW-ODMFB) with system uncertainties and external disturbances based on the model given, and then design an adaptive sliding-mode control (ASMC) system for trajectory tracking of 4MW-ODMFB, which combines the techniques of adaptive control and sliding-mode control. By using Lyapunov method we prove that the ASMC system is global asymptotic stable. We also conduct simulation experiments in MATLAB environment to test our TSK fuzzy model and the ASMC method. All the simulation results demonstrate the effectiveness of the proposed TSK fuzzy model and the stability and robustness of ASMC system.
Keywords :
"Mobile communication","Sliding mode control","Takagi-Sugeno model","Adaptive control","Lyapunov methods","Adaptation models"
Conference_Titel :
Chinese Automation Congress (CAC), 2015
DOI :
10.1109/CAC.2015.7382807