Robust Multi-robot Formations via Sliding Mode Controller and Fuzzy Compensator
نویسندگان
چکیده
منابع مشابه
Robust Sliding Mode Controller for Trajectory Tracking and Attitude Control of a Nonholonomic Spherical Mobile Robot
Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...
متن کاملDesign Sliding Mode Controller with Parallel Fuzzy Inference System Compensator to Control of Robot Manipulator
Sliding mode controller (SMC) is a significant nonlinear controller under condition of partly uncertain dynamic parameters of system. This controller is used to control of highly nonlinear systems especially for robot manipulators, because this controller is a robust and stable. Conversely, pure sliding mode controller is used in many applications; it has two important drawbacks namely; chatter...
متن کاملrobust sliding mode controller for trajectory tracking and attitude control of a nonholonomic spherical mobile robot
based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...
متن کاملFuzzy Sliding Mode Controller with CMAC Application Rigid Robot Manipulators
In this paper to address a signed distance fuzzy sliding-mode control (SDFSMC) architecture which integrates cerebellar model articulation controller (CMAC). The proposed control consists of the SDFSMC and a feedforward compensation with modify CMAC network which to control the dynamics of the nonlinear systems with unknown structured nonlinearities without requiring a priori knowledge of the s...
متن کاملFuzzy Sliding Mode Controller Design
* Department of Teacher Training in Electrical Engineering, Faculty of Technical Education, Kings Mongkut Institute of Technology North Bangkok. Abstract This paper describes fuzzy sliding-mode control (FSMC), a fuzzy logic control based upon variable structure techniques. A variable structure approach is designed with guaranteed stability properties. A ball and beam system is used here as an ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Automatika
سال: 2016
ISSN: 0005-1144,1848-3380
DOI: 10.7305/automatika.2017.12.1637