Fuzzy Fast Terminal Sliding Mode Control of Mobile Robot Trajectory Tracking

EasyChair Preprint 6915

Abstract

In this paper a fast terminal sliding mode control for wheeled mobile robots using a fuzzy logic controller is presented. The proposed strategy combines terminal sliding mode and fuzzy logic approaches. The dynamic tracking errors of the mobile robot are divided in two subsystems, a first order subsystem for the angle error and a second order subsystem for the position error. For the first subsystem, a fast terminal sliding mode control law of the angular velocity is designed in order to stabilize the angle error and assure the finite time. For the second subsystem, a combination of global fast terminal sliding mode control and a fuzzy logic controller is designed in order to stabilize the position error and to optimize the reaching time of the control law. The introduced fuzzy logic controller is used to find a compromise between the reaching time of the sliding surface and the convergence time of the position errors. The designed controller is dynamically simulated by using matlab/simulink. It is shown from the simulation works that the proposed controller offers a fast response and a good trajectories tracking capability for mobile robot.

Keyphrases: Fuzzy Logic, Lyapunov, fast terminal sliding mode, mobile robot, stability, trajectory tracking

@booklet{EasyChair:6915,
  author    = {Ali Mallem and Walid Benaziza},
  title     = {Fuzzy Fast Terminal Sliding Mode Control of Mobile Robot Trajectory Tracking},
  howpublished = {EasyChair Preprint 6915},
  year      = {EasyChair, 2021}}