PD Terminal Sliding Mode Control Using Fuzzy Genetic Algorithm for Mobile Robot in Presence of Disturbances

Abstract: This paper presents a new approach in the field of trajectory tracking for nonholonomic mobile robot in presence of disturbances. The proposed control design is constructed by a kinematic controller, based on PD sliding surface using fuzzy sliding mode for the angular and linear velocities disturbances, in order to tend asymptotically the robot posture error to zero. Thereafter a dynamic controller is presented using as a sliding surface design, a fast terminal function (FTF) whose parameters are generated by a genetic algorithm in order to converge the velocity errors to zero in finite time and guarantee the asymptotic stability of the system using a Lyapunov candidate. The elaborated simulation works in the case of different trajectories confirm the robustness of the proposed approach.

[1]  Shengbo Eben Li,et al.  Recent Advances in Nonsingular Terminal Sliding Mode Control Method , 2014 .

[2]  B. S. K. K. Ibrahim,et al.  Genetic algorithm optimized integral sliding mode control of a direct drive robot arm , 2012, 2012 International Conference on Control, Automation and Information Sciences (ICCAIS).

[3]  C. Samson.  Control of chained systems application to path following and time-varying point-stabilization of mobile robots , 1995, IEEE Trans. Autom. Control..

[4]  Manafaddin Namazov,et al.  DC motor position control using fuzzy proportional-derivative controllers with different defuzzification methods , 2010 .

[5]  M. Mohamadian,et al.  Robust position control in DC motor by fuzzy sliding mode control , 2006, International Symposium on Power Electronics, Electrical Drives, Automation and Motion, 2006. SPEEDAM 2006..

[6]  Xinghuo Yu,et al.  Model reference adaptive control systems with terminal sliding modes , 1996 .

[7]  Warren E. Dixon,et al.  Tracking and Regulation Control of a Mobile Robot System With Kinematic Disturbances: A Variable Structure-Like Approach , 2000 .

[8]  P. R. Ouyang,et al.  PD with sliding mode control for trajectory tracking of robotic system , 2014 .

[9]  Avinash Jagarlamudi.  Trajectory tracking of a nonholonomic mobile robot , 2012 .

[10]  Vadim I. Utkin,et al.  Sliding mode control in electromechanical systems , 1999 .

[11]  Vo Hoang Duy,et al.  Two-Wheeled Welding Mobile Robot for Tracking a Smooth Curved Welding Path Using Adaptive Sliding-Mode Control Technique , 2007 .

[12]  Abbas Erfanian,et al.  Adaptive fuzzy terminal sliding mode control for a class of MIMO uncertain nonlinear systems , 2011, Fuzzy Sets Syst..

[13]  Yaduvir Singh,et al.  Genetic Algorithms: Concepts, Design for Optimization of Process Controllers , 2011, Comput. Inf. Sci..

[14]  Jong-Hwan Kim,et al.  Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots , 1999, IEEE Trans. Robotics Autom..

[15]  D. Winfield,et al.  Optimization: Theory and practice , 1972 .

[16]  João P. Hespanha,et al.  Trajectory-Tracking and Path-Following of Underactuated Autonomous Vehicles With Parametric Modeling Uncertainty , 2007, IEEE Transactions on Automatic Control.

[17]  Edson Roberto De Pieri,et al.  PD-Super-Twisting Second Order Sliding Mode Tracking Control for a Nonholonomic Wheeled Mobile Robot , 2014 .

[18]  Hong-Rong Hwung,et al.  Position Control Employing Fuzzy-sliding Mode and Genetic Algorithms with a Modified Evolutionary Direction Operator , 2000, Cybern. Syst..

[19]  Luis T. Aguilar,et al.  Fuzzy Logic Tracking Control for Unicycle Mobile Robots , 2006, Eng. Lett..

[20]  J. Keighobadi,et al.  Fuzzy Sliding Mode Control of non-holonomic Wheeled Mobile Robot , 2011, 2011 IEEE 9th International Symposium on Applied Machine Intelligence and Informatics (SAMI).

[21]  Hong Ren Wu,et al.  A robust MIMO terminal sliding mode control scheme for rigid robotic manipulators , 1994, IEEE Trans. Autom. Control..

[22]  Denis V. Efimov,et al.  Finite-time obstacle avoidance for unicycle-like robot subject to additive input disturbances , 2015, Autonomous Robots.

[23]  R. Yasien,et al.  Chattering Attenuation of Sliding Mode Controller Using Genetic Algorithm and Fuzzy Logic Techniques , 2009 .

[24]  Ching-Hung Lee,et al.  Tracking control of unicycle-modeled mobile robots using a saturation feedback controller , 2001, IEEE Trans. Control. Syst. Technol..

[25]  Guohua Xu,et al.  Robust adaptive control for a nonholonomic mobile robot with unknown parameters , 2009 .

[26]  Yingchong Ma,et al.  Control of nonholonomic wheeled mobile robots via i-PID controller , 2013, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[27]  Yaonan Wang,et al.  Simultaneous Stabilization and Tracking of Nonholonomic Mobile Robots: A Lyapunov-Based Approach , 2015, IEEE Transactions on Control Systems Technology.