Professor of School of Engineering, Design and Built Environment, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
Abstract—A Wheeled Mobile Robot (WMR) system is one of the well-known non-holonomic systems. In this paper, an Adaptive Fuzzy Sliding Mode Controller (AFSMC) is proposed for trajectory tracking control of a non-holonomic system, which the centroid doesn’t coincide to the connection center of driving wheels. First, a Sliding Mode Controller (SMC) is proposed to the convergence of WMR on the desired position, velocity and orientation trajectories. However, the SMC is still fluctuation around trajectory tracking also the system response time is slow. So the second fuzzy logic controller (FLC) is combined with SMC to improve quality of control WMR for quick response time. The results of Matlab/Simulink demonstrated the efficiency of the AFSMC proposed good working.
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