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

Intelligent Automation & Soft Computing 2023年第3期35卷 3713-3726页

作者： G.Pandiaraj S.Muralidharan Department of EEE Mepco Schelenk Engineering CollegeSivakasi626005India

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.

关键词： Adaptive robust control coordinated control mobile robot fuzzy adaptation law fuzzy parameter adjustment direct torque allocation

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