Design of Kinematic Controller Based on Parameter Tuning by Fuzzy Inference System for Trajectory Tracking of Differenti
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Design of Kinematic Controller Based on Parameter Tuning by Fuzzy Inference System for Trajectory Tracking of Differential-Drive Mobile Robot Tran Quoc Khai1,4 • Young-Jae Ryoo2 • Woo-Ram Gill1,3 • Dae-Yeong Im3
Received: 28 January 2020 / Revised: 6 March 2020 / Accepted: 11 March 2020 Ó Taiwan Fuzzy Systems Association 2020
Abstract This paper proposes a new kinematic controller (KC) when designing an autonomous mobile robot with type of differential-drive model in trajectory tracking control. The KC is responsible for creating the reference values of velocities transmitted to the robot dynamics. To design the KC, we present a simple and effective way of actualizing the KC based on the extended nonlinear kinematic model of the differential-drive mobile robots. The stability of the tracking system with the proposed KC is proved based on the Lyapunov stability theory. Moreover, the fuzzy technique is also applied to the KC to enhance the quality of the tracking control when the reference trajectory has rapid changes in terms of coordinates or velocities. In this study, the computer simulation results show the high feasibility of the proposed KC.
& Young-Jae Ryoo [email protected] Tran Quoc Khai [email protected]; [email protected] Woo-Ram Gill [email protected] Dae-Yeong Im [email protected] 1
Department of Electrical Engineering, Mokpo National University, Mokpo, South Korea
2
Department of Electrical and Control Engineering, Mokpo National University, Mokpo, South Korea
3
Department of EV Components & Materials, R&D Group, Korea Institute of Industrial Technology, Gwangju, South Korea
4
Faculty of Electrical and Electronics Engineering, Ho Chi Minh City University of Transport, Ho Chi Minh, Vietnam
Keywords Kinematic controller Differential-drive mobile robots Lyapunov stability theory Fuzzy technique
1 Introduction Nowadays, autonomous mobile robots are widely applied in the fields of human life and industry. The design of autonomous mobile robots in trajectory tracking is also a hot topic that has been studied widely. Based on the dynamics and kinematics of the differential-drive mobile robots [1], there are two controllers that need to be designed: the kinematic controller (KC) and the dynamic controller (DC) [2]. To design the tracking controllers, there are many researches using the classical non-holonomic model of the DDMRs [3–8]. In all the aforementioned works, the kinematic models were built on the midpoint (MP) of the wheel axle. So that, it is a challenge to design the KC having many control parameters based on control laws such as backstepping [3, 4] and saturation feedback control law [5]. Liang et al. [6] proposed the adaptive fuzzy control law for the KC, but the design of this controller is quite complicated because the input fuzzy signals are error tracking vectors. Therefore, in this study, we focus on building the simple and effective kinematic controller having only one control parameter but still satisfying the tracking stability condition. The proposed kinemati
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