Xu, Hongpeng and Chen, Hui and Ali, Mohammed A.H. and Liu, Wei and Wang, Zhenya (2024) Anti-windup uniform fuzzy control for uncertain wheeled mobile robots. Journal of The Franklin Institute, 361 (7). p. 106807. ISSN 0016-0032, DOI https://doi.org/10.1016/j.jfranklin.2024.106807.
Full text not available from this repository.Abstract
This paper presents a unified control strategy to address the challenge of input saturation in wheeled mobile robots, particularly those with incomplete kinematic constraints. The strategy is based on reconceptualizing the robot's kinematic model into a chain system using the transversal function technique. This transformation ensures a fully actuated system characterized by decoupled inputs and outputs that are free from singularities. To handle uncertainties and external disturbances, the paper proposes a dynamic control model that utilizes inversion-based controllers. Th controller is improved by adaptive fuzzy logic, which is fine-tuned to predict the evolving uncertainties of the system. The methodology employs a dynamic input constraint mechanism that considers saturation limits. The Lyapunov method validates the methodology's robustness and effectiveness, confirming the asymptotic stability of the system. Extensive simulations demonstrate the method's effectiveness in controlling uncertain wheeled mobile robots under stringent operational constraints.
| Item Type: | Article |
|---|---|
| Funders: | Postdoctoral Fellowship Program of CPSF (GZC20231284) |
| Uncontrolled Keywords: | Unified control; Wheeled mobile robot; Trajectory tracking and point stabilization; unified control; Fuzzy control; Anti -windup |
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Faculty of Engineering > Department of Mechanical Engineering |
| Depositing User: | Ms. Juhaida Abd Rahim |
| Date Deposited: | 07 Oct 2024 04:47 |
| Last Modified: | 07 Oct 2024 04:47 |
| URI: | http://eprints.um.edu.my/id/eprint/45282 |
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