DESIGN CONTROLLER FOR UNDERACTUATED WHEEL MOBILE ROBOTS BASED ON FUZZY HIERARCHICAL SLIDING MODE AND BACKSTEPPING TECHNIQUES
Keywords:
Wheel mobile robot (WMR), hierarchical sliding mode control (HSMC), backstepping technique, fuzzy controll.
Abstract
This paper proposes a trajectory tracking control algorithm for a wheel mobile robot, which incorporates backstepping control routines and fuzzy hierarchical sliding mode. The proposed controller guarantees the closed-loop stability and the position tracking errors converge to zero, under the conditions that the system uncertainties, input disturbances. Numerical simulation results show the effective-ness and the capability for practical applications of the proposed control method.
