NDLI: Network-Based Fuzzy Decentralized Sliding-Mode Control for Car-Like Mobile Robots

Content Provider	IEEE Xplore Digital Library
Author	Chih-Lyang Hwang Li-Jui Chang Yuan-Sheng Yu
Copyright Year	1982
Abstract	In this paper, the trajectory tracking of a car-like mobile robot (CLMR) using network-based fuzzy decentralized sliding-mode control (NBFDSMC) is developed. The scaling factors and the coefficients of the sliding surface for the control of the steering angle and forward-backward velocity of a CLMR are adopted by that for the control of two motors. Due to the delay transmission of a signal through an Internet and wireless module, a revision of fuzzy decentralized sliding-mode control (FDSMC) with suitable sampling time (i.e., NBFDSMC) is accomplished by the quality-of-service (QoS). The proposed control can track a reference trajectory without the requirement of a mathematical model. Only the information of the upper bound of system knowledge (including the dynamics of the CLMR, the delay feature of Internet network, and wireless module) is required to select the suitable scaling factors and coefficients of sliding surface such that an excellent performance is obtained. In addition, the stability of the closed-loop system in the presence of time-varying delay is addressed. Finally, a sequence of experiments including the control of unloaded CLMR and the trajectory tracking of CLMR is carried out to consolidate the usefulness of the proposed control system
Sponsorship	IEEE Industrial Electronics Society
Starting Page	574
Ending Page	585
Page Count	12
File Size	1481094
File Format	PDF
ISSN	02780046
Volume Number	54
Issue Number	1
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-02-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Sliding mode control Mobile robots Trajectory Velocity control Control systems Delay effects Internet Sampling methods Quality of service wireless communication device Car-like mobile robot (CLMR) decentralized control fuzzy sliding-mode control (FSMC) network-based control proportional-integral-derivative (PID) control
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering Computer Science Applications

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