Abstract
A discontinuous stabilizing control of Skid-Steering Mobile Robot (SSMR) is proposed using σ transformation introduced in Astolfi (Syst. Control Lett. 27(1), 37–45, 1996). A linear time-invariant system (LTI) is obtained which is driven by state-dependent disturbance. A linear H∞ controller is designed to reduce the effect of this disturbance. Two control transformations are carried out in order to bring the system in a form suitable for σ transformation; one for the case of SSMR orientation around 0 and π and the other around ± π/2. The resulting two controllers for the two cases are blended using fuzzy logic. The closed-loop system is simulated using Matlab environment on point stabilization from different initial conditions. Results show that the proposed controller guarantees asymptotic stability with smooth paths. Experimental results are consistent with simulation and show that the proposed controller succeeded to stabilize the SSMR to the desired point without shuttering.
| Original language | English |
|---|---|
| Pages (from-to) | 1-14 |
| Number of pages | 14 |
| Journal | Journal of Intelligent and Robotic Systems: Theory and Applications |
| DOIs | |
| Publication status | Accepted/In press - 2018 Apr 23 |
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Keywords
- Discontinuous control
- Fuzzy logic
- Genetic algorithm
- H control
- Skid-steering mobile robot
- σ transformation
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Mechanical Engineering
- Industrial and Manufacturing Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering
Cite this
Discontinuous Stabilizing Control of Skid-Steering Mobile Robot (SSMR). / Ibrahim, Fady; Abouelsoud, A. A.; Fath El Bab, Ahmed M.R.; Ogata, Tetsuya.
In: Journal of Intelligent and Robotic Systems: Theory and Applications, 23.04.2018, p. 1-14.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Discontinuous Stabilizing Control of Skid-Steering Mobile Robot (SSMR)
AU - Ibrahim, Fady
AU - Abouelsoud, A. A.
AU - Fath El Bab, Ahmed M.R.
AU - Ogata, Tetsuya
PY - 2018/4/23
Y1 - 2018/4/23
N2 - A discontinuous stabilizing control of Skid-Steering Mobile Robot (SSMR) is proposed using σ transformation introduced in Astolfi (Syst. Control Lett. 27(1), 37–45, 1996). A linear time-invariant system (LTI) is obtained which is driven by state-dependent disturbance. A linear H∞ controller is designed to reduce the effect of this disturbance. Two control transformations are carried out in order to bring the system in a form suitable for σ transformation; one for the case of SSMR orientation around 0 and π and the other around ± π/2. The resulting two controllers for the two cases are blended using fuzzy logic. The closed-loop system is simulated using Matlab environment on point stabilization from different initial conditions. Results show that the proposed controller guarantees asymptotic stability with smooth paths. Experimental results are consistent with simulation and show that the proposed controller succeeded to stabilize the SSMR to the desired point without shuttering.
AB - A discontinuous stabilizing control of Skid-Steering Mobile Robot (SSMR) is proposed using σ transformation introduced in Astolfi (Syst. Control Lett. 27(1), 37–45, 1996). A linear time-invariant system (LTI) is obtained which is driven by state-dependent disturbance. A linear H∞ controller is designed to reduce the effect of this disturbance. Two control transformations are carried out in order to bring the system in a form suitable for σ transformation; one for the case of SSMR orientation around 0 and π and the other around ± π/2. The resulting two controllers for the two cases are blended using fuzzy logic. The closed-loop system is simulated using Matlab environment on point stabilization from different initial conditions. Results show that the proposed controller guarantees asymptotic stability with smooth paths. Experimental results are consistent with simulation and show that the proposed controller succeeded to stabilize the SSMR to the desired point without shuttering.
KW - Discontinuous control
KW - Fuzzy logic
KW - Genetic algorithm
KW - H control
KW - Skid-steering mobile robot
KW - σ transformation
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U2 - 10.1007/s10846-018-0844-2
DO - 10.1007/s10846-018-0844-2
M3 - Article
SP - 1
EP - 14
JO - Journal of Intelligent and Robotic Systems: Theory and Applications
JF - Journal of Intelligent and Robotic Systems: Theory and Applications
SN - 0921-0296
ER -