Gg. Rigatos et al., Mobile robot motion control in partially unknown environments using a sliding-mode fuzzy-logic controller, ROBOT AUT S, 33(1), 2000, pp. 1-11
This paper studies the problem of motion and control law design for a mobil
e robot that moves inside a partially unknown environment with stationary o
bstacles and moving objects, under the assumption of parametric uncertainty
in the model that describes the motion of the robot. A new variable struct
ure system, that combines the basic principles of sliding-mode control with
fuzzy logic, is presented which allows the robot to execute the desired mo
tion. The proposed controller, named reduced complexity sliding-mode fuzzy-
logic controller (RC-SMFLC), is characterised by its robustness and simplic
ity.
The controller implements via fuzzy reasoning the following two rules: "IF
sgn(e(t)(e) over dot(t)) < 0 THEN do not change the control action" and "IF
sgn(e(t)(e) over dot(t)) > 0 THEN change the control action", where contro
l action can be either an increase or a decrease of the control signal. The
stability of the method is verified and illustrative numerical simulation
examples are included. (C) 2000 Elsevier Science B.V. All rights reserved.