TY - GEN
T1 - An adaptive controller with dynamic gain adjustment for wheeled mobile robot
AU - Bing-Gang, Jhong
AU - Zhi-Xiang, Yang
AU - Chen, Mei Yung
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - 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.
AB - 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.
KW - Adaptive control
KW - Dynamic gain adjustment
KW - Dynamic surface control
KW - Fuzzy logic control
KW - Wheeled mobile robot
UR - http://www.scopus.com/inward/record.url?scp=85067125958&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85067125958&partnerID=8YFLogxK
U2 - 10.1109/SCIS-ISIS.2018.00103
DO - 10.1109/SCIS-ISIS.2018.00103
M3 - Conference contribution
AN - SCOPUS:85067125958
T3 - Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
SP - 592
EP - 596
BT - Proceedings - 2018 Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - Joint 10th International Conference on Soft Computing and Intelligent Systems and 19th International Symposium on Advanced Intelligent Systems, SCIS-ISIS 2018
Y2 - 5 December 2018 through 8 December 2018
ER -