Mobile robot motion control in partially unknown environments using a sliding-mode fuzzy-logic controller

Rigatos, GG; Tzafestas, CS; Tzafestas, SG

dc.contributor.author	Rigatos, GG	en
dc.contributor.author	Tzafestas, CS	en
dc.contributor.author	Tzafestas, SG	en
dc.date.accessioned	2014-03-01T01:15:41Z
dc.date.available	2014-03-01T01:15:41Z
dc.date.issued	2000	en
dc.identifier.issn	0921-8890	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/13674
dc.subject	motion planning	en
dc.subject	fuzzy-logic controller	en
dc.subject	sliding-mode controller	en
dc.subject	fuzzy rule base	en
dc.subject	sliding surface	en
dc.subject	variable structure systems	en
dc.subject	hybrid intelligent control	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.title	Mobile robot motion control in partially unknown environments using a sliding-mode fuzzy-logic controller	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/S0921-8890(00)00094-4	en
heal.identifier.secondary	http://dx.doi.org/10.1016/S0921-8890(00)00094-4	en
heal.language	English	en
heal.publicationDate	2000	en
heal.abstract	This paper studies the problem of motion and control law design for a mobile robot that moves inside a partially unknown environment with stationary obstacles and moving objects, under the assumption of parametric uncertainty in the model that describes the motion of the robot. A new variable structure system, that combines the basic principles of sliding-mode control with fuzzy logic, is presented which allows the robot to execute the desired motion. The proposed controller, named reduced complexity sliding-mode fuzzy-logic controller (RC-SMFLC), is characterised by its robustness and simplicity. The controller implements via fuzzy reasoning the following two rules: "IF sgn(e(t)(e) over dot(t)) < 0 THEN do not change the control action" and "IF sgn(e(t)(e) over dot(t)) > 0 THEN change the control action", where control action can be either an increase or a decrease of the control signal. The stability of the method is verified and illustrative numerical simulation examples are included. (C) 2000 Elsevier Science B.V. All rights reserved.	en
heal.publisher	ELSEVIER SCIENCE BV	en
heal.journalName	ROBOTICS AND AUTONOMOUS SYSTEMS	en
dc.identifier.doi	10.1016/S0921-8890(00)00094-4	en
dc.identifier.isi	ISI:000089187700001	en
dc.identifier.volume	33	en
dc.identifier.issue	1	en
dc.identifier.spage	1	en
dc.identifier.epage	11	en