Discontinuous Stabilizing Control of Skid-Steering Mobile Robot (SSMR)

Fady Ibrahim; A. A. Abouelsoud; Ahmed M.R. Fath El Bab; Tetsuya Ogata

doi:10.1007/s10846-018-0844-2

Discontinuous Stabilizing Control of Skid-Steering Mobile Robot (SSMR)

Fady Ibrahim^*, A. A. Abouelsoud, Ahmed M.R. Fath El Bab, Tetsuya Ogata

^*Corresponding author for this work

School of Fundamental Science and Engineering

Research output: Contribution to journal › Article › peer-review

3 Citations (Scopus)

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)	253-266
Number of pages	14
Journal	Journal of Intelligent and Robotic Systems: Theory and Applications
Volume	95
Issue number	2
DOIs	https://doi.org/10.1007/s10846-018-0844-2
Publication status	Published - 2019 Aug 15

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

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10.1007/s10846-018-0844-2

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title = "Discontinuous Stabilizing Control of Skid-Steering Mobile Robot (SSMR)",

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.",

keywords = "Discontinuous control, Fuzzy logic, Genetic algorithm, H control, Skid-steering mobile robot, σ transformation",

author = "Fady Ibrahim and Abouelsoud, {A. A.} and {Fath El Bab}, {Ahmed M.R.} and Tetsuya Ogata",

note = "Publisher Copyright: {\textcopyright} 2018, Springer Science+Business Media B.V., part of Springer Nature.",

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AU - Ibrahim, Fady

AU - Abouelsoud, A. A.

AU - Fath El Bab, Ahmed M.R.

AU - Ogata, Tetsuya

PY - 2019/8/15

Y1 - 2019/8/15

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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Discontinuous Stabilizing Control of Skid-Steering Mobile Robot (SSMR)

Abstract

Keywords

ASJC Scopus subject areas

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