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首页> 外文期刊>Journal of the Chinese Society of Mechanical Engineers, Series C: Transactions of the Chinese Society of Mechanical Engineers >Hierarchical Decentralized Fuzzy Sliding-Mode Control for the Path-Tracking of Differential Driven Mobile Robots
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Hierarchical Decentralized Fuzzy Sliding-Mode Control for the Path-Tracking of Differential Driven Mobile Robots

机译：用于路径跟踪的分层分散模糊滑模控制差动驱动移动机器人的路径跟踪

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摘要

The goal of this work is to achieve path-tracking of a differential driven mobile robot (DDMR) in the presence of uncertainties, saturated input, and external disturbances. To reach this goal, hierarchical decentralized fuzzy sliding-mode control (HDFSMC), including a nonlinear position control (NPC), is used to generate the desired velocity inputs of the nominal system. A decentralized fuzzy sliding-mode control (DFSMC) is also used to deal with the existence of uncertainties, saturated input and external disturbance in addition to velocity tracking. The error dynamics between the actual DDMR and the virtual reference DDMR (or the desired velocity inputs) with respect to the world frame is first established to asymptotically track the planned trajectory. Usually, the performance and stability of the closed-loop system often deteriorate because of mentioned uncertainties and exogenous inputs. A DFSMC is designed to obtain good performance including accuracy of path tracking and smoothness of the control input by exploiting some of the features of the sliding-mode control technique, e.g., excess robustness, fast convergence. First, a suitable rule table for the ith subsystem is obtained using if-then rules. Then, based on Lyapunov stability criterion, the output scaling factor is then determined. To validate the theoretical developments, computer simulations are conducted which prove the effectiveness, efficiency and robustness of the proposed scheme.
机译：这项工作的目标是在存在不确定性，饱和输入和外部干扰的情况下实现差分驱动的移动机器人（DDMR）的路径跟踪。为了实现这一目标，使用包括非线性位置控制（NPC）的分层分散模糊滑模控制（HDFSMC）来生成标称系统的所需速度输入。除了速度跟踪之外，还用于处理分散的模糊滑模控制（DFSMC）来处理不确定性，饱和输入和外部干扰。首先建立关于世界帧的实际DDMR和虚拟参考DDMR（或期望的速度输入）之间的误差动态，以渐近追踪计划的轨迹。通常，由于提到的不确定性和外源输入，闭环系统的性能和稳定性通常恶化。 DFSMC旨在获得良好的性能，包括通过利用滑模控制技术的一些特征，例如鲁棒性，快速收敛的一些特征，包括对控制输入的路径跟踪和平滑度的精度。首先，使用if-then-then规则获得第i个子系统的合适规则表。然后，基于Lyapunov稳定性标准，然后确定输出缩放因子。为了验证理论发展，进行计算机模拟，证明了所提出的方案的有效性，效率和稳健性。

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