Mobile robot motion control in partially unknown environments using a sliding-mode fuzzy-logic controller

✍ Scribed by G.G. Rigatos; C.S. Tzafestas; S.G. Tzafestas

• Publisher: Elsevier Science
• Year: 2000
• Tongue: English
• Weight: 244 KB
• Volume: 33
• Category: Article
• ISSN: 0921-8890
• DOI: 10.1016/s0921-8890(00)00094-4

✦ Synopsis

This paper studies the problem of motion and control law design for a mobile robot that moves inside a partially unknown environment with stationary obstacles and moving objects, under the assumption of parametric uncertainty in the model that describes the motion of the robot. A new variable structure system, that combines the basic principles of sliding-mode control with fuzzy logic, is presented which allows the robot to execute the desired motion. The proposed controller, named reduced complexity sliding-mode fuzzy-logic controller (RC-SMFLC), is characterised by its robustness and simplicity.

The controller implements via fuzzy reasoning the following two rules: "IF sgn(e(t) ė(t)) < 0 THEN do not change the control action" and "IF sgn(e(t) ė(t)) > 0 THEN change the control action", where control action can be either an increase or a decrease of the control signal. The stability of the method is verified and illustrative numerical simulation examples are included.