An adaptive controller with dynamic gain adjustment for wheeled mobile robot

Jhong Bing-Gang, Yang Zhi-Xiang, Mei Yung Chen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper, an adaptive controller with dynamic gain adjustment for wheeled mobile robot, including its kinematic and dynamic, is proposed. System parameters are estimated in this controller for the reason that this controller can be easily applied to mobile robots with the same architecture. In addition, the mechanism of gain adjustment is based on fuzzy logic control, to avoid the situation of system divergence when the amount of control is saturated. The dynamic surface control is also included to reduce backstepping method for simplifying the complexity of controller. The system stability and the convergence of errors are guaranteed by Lyapunov theory. Simulation results are presented to illustrate the effectiveness and efficiency.

Original languageEnglish
Title of host publicationProceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages592-596
Number of pages5
ISBN (Electronic)9781538626337
DOIs
Publication statusPublished - 2018 Jul 2
Externally publishedYes
EventJoint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018 - Toyama, Japan
Duration: 2018 Dec 52018 Dec 8

Publication series

NameProceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018

Conference

ConferenceJoint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
CountryJapan
CityToyama
Period18/12/518/12/8

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Keywords

  • Adaptive control
  • Dynamic gain adjustment
  • Dynamic surface control
  • Fuzzy logic control
  • Wheeled mobile robot

ASJC Scopus subject areas

  • Human-Computer Interaction
  • Logic
  • Artificial Intelligence
  • Computational Theory and Mathematics
  • Computer Science Applications
  • Theoretical Computer Science

Cite this

Bing-Gang, J., Zhi-Xiang, Y., & Chen, M. Y. (2018). An adaptive controller with dynamic gain adjustment for wheeled mobile robot. In Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018 (pp. 592-596). [8716182] (Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SCIS-ISIS.2018.00103