Novel ARC-Fuzzy Coordinated Automatic Tracking Control of Four-Wheeled Mobile Robot

作     者：G.Pandiaraj S.Muralidharan 

作者机构：Department of EEEMepco Schelenk Engineering CollegeSivakasi626005India 

出 版 物：《Intelligent Automation & Soft Computing》 (智能自动化与软计算（英文）)

年 卷 期：2023年第35卷第3期

页      面：3713-3726页

核心收录：

学科分类：08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 081102[工学-检测技术与自动化装置] 0812[工学-计算机科学与技术（可授工学、理学学位）] 

主　　题：Adaptive robust control coordinated control mobile robot fuzzy adaptation law fuzzy parameter adjustment direct torque allocation 

摘      要：Four-wheeled,individual-driven,nonholonomic structured mobile robots are widely used in industries for automated work,inspection and explora-tion *** trajectory tracking control of the four-wheel individual-driven mobile robot is one of the most blooming research topics due to its nonholonomic *** wheel velocities are separately adjusted to follow the trajectory in the old-fashioned kinematic control of skid-steered mobile ***,there is no consideration for robot dynamics when using a kinematic controller that solely addresses the robot chassis’s *** a result,the mobile robot has lim-ited performance,such as chattering during curved *** this research work,a three-tiered adaptive robust control with fuzzy parameter estimation,including dynamic modeling,direct torque control and wheel slip control is *** logic-based parameter estimation is a valuable tool for adjusting adaptive robust controller(ARC)parameters and tracking the trajectories with less tracking error as well as high tracking *** research considers the O type and 8 type trajectories for performance analysis of the proposed novel control *** suggested approach outperforms the existing control methods such as Fuzzy,proportional–integral–derivative(PID)and adaptive robust controller with discrete projection(ARC–DP).The experimental results show that the scheduled performance index decreases by 2.77%and 4.76%.All the experimen-tal simulations obviously proved that the proposed ARC-Fuzzy performed well in smooth groud surfaces compared to other approaches.