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Design of Adaptive Fuzzy Sliding Mode Controller for Mobile Robot

Phan Thanh Phuc, Tuong Phuoc Tho, Nguyen Dao Xuan Hai, and Nguyen Truong Thinh
Department of Mechatronics, HCMC University of Technology and Education, Vietnam

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.

Index Terms—sliding mode control, adaptive control, trajectory tracking, wheeled mobile robots, autonomous

Cite: Phan Thanh Phuc, Tuong Phuoc Tho, Nguyen Dao Xuan Hai, and Nguyen Truong Thinh, "Design of Adaptive Fuzzy Sliding Mode Controller for Mobile Robot," International Journal of Mechanical Engineering and Robotics Research, Vol. 10, No. 2, pp. 54-59, February 2021. DOI: 10.18178/ijmerr.10.2.54-59

​Copyright © 2021 by the authors. This is an open access article distributed under the Creative Commons Attribution License (CC BY-NC-ND 4.0), which permits use, distribution and reproduction in any medium, provided that the article is properly cited, the use is non-commercial and no modifications or adaptations are made.

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