An adaptive controller with dynamic gain adjustment for wheeled mobile robot

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

研究成果: 書貢獻/報告類型會議貢獻

摘要

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.

原文英語
主出版物標題Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
發行者Institute of Electrical and Electronics Engineers Inc.
頁面592-596
頁數5
ISBN(電子)9781538626337
DOIs
出版狀態已發佈 - 2018 七月 2
對外發佈Yes
事件Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018 - Toyama, 日本
持續時間: 2018 十二月 52018 十二月 8

出版系列

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

會議

會議Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
國家日本
城市Toyama
期間18/12/518/12/8

ASJC Scopus subject areas

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

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  • 引用此

    Bing-Gang, J., Zhi-Xiang, Y., & Chen, M. Y. (2018). An adaptive controller with dynamic gain adjustment for wheeled mobile robot. 於 Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018 (頁 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