Enhance trajectory tracking quality for 4-wheeled omnidirectional robots based on a combination of Fuzzy logic with Dynamic sliding Surface Controller
Authors: Trần Đức Lương, Hồ Sỹ Phương, Vũ Đình Thi, Lê Văn Chương, Tạ Hùng Cường, Cao Nguyễn Tiến Dũng
The 7th International Conference and Exhibition on Control and Automation
: : 75
Publishing year: 5/2024
This paper proposes a controller to enhance trajectory tracking quality for 4-wheeled omnidirectional robots based on the fuzzy logic combination for the dynamic sliding surface controller (AFDSC). In the article, the stability of the controller is proven based on mathematics and Lyapunov stability criteria, and simulation results on Matlab Simulink software are compared with Dynamic Sliding surface Controller (DSC) to demonstrate the correctness, usability, and advantages of the proposed controller.
Autonomous Robot; Omnidirectional Robot; Dynamic Surface Sliding Control; Fuzzy Logic Control.
