Network-based fuzzy decentralized sliding-mode control for car-like mobile robots

IEEE Transactions on Industrial Electronics

Volumn 54, Issue 1, 2007, Pages 574-585

  Hwang, Chih Lyang ^a   Chang, Li Jui ^b   Yu, Yuan Sheng ^c  

^a TAMKANG UNIVERSITY   (Taiwan)

^b TATUNG UNIVERSITY   (Taiwan)

^c Toes Opto Mechatronics Company   (Taiwan)

Author keywords

Car like mobile robot (CLMR); Decentralized control; Fuzzy sliding mode control (FSMC); Network based control; Proportional integral derivative (PID) control; Wireless communication device

Indexed keywords

CLOSED LOOP CONTROL SYSTEMS; DECENTRALIZED CONTROL; FUZZY CONTROL; SLIDING MODE CONTROL; SYSTEM STABILITY; THREE TERM CONTROL SYSTEMS;

CAR-LIKE MOBILE ROBOT (CLMR); FUZZY SLIDING-MODE CONTROL (FSMC); NETWORK-BASED CONTROL; WIRELESS COMMUNICATION DEVICE;

MOBILE ROBOTS;

EID: 33947421714     PISSN: 02780046     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIE.2006.888806     Document Type: Article

References (26)

1. R. J. Anderson and M. W. Spong, "Bilateral control of teleoperators with time delay," IEEE Trans. Automat. Contr., vol. 34, pp. 494-501, May 1989.
2. S. Mascolo, "Smith's principle for congestion control in high-speed data networks," IEEE Trans. Automat. Contr., vol. 45, pp. 358-364, 2000.
3. S. Munir and W. J. Book, "Internet-based teleoperation using wave variables with prediction," IEEE/ASME Trans. Mechatron., vol. 7, no. 2, pp. 124-133, Feb. 2002.
4. F. Mazenc, S. Mondie, and S. I. Niculescu, "Global asymptotic stabilization for chains of integrators with a delay in the input," IEEE Trans. Automat. Contr., vol. 48, pp. 57-63, Jan. 2003.
5. M. Y. Chow and Y. Tipsuwan, "Gain adaptation of networked DC motor controllers based on QoS variations," IEEE Trans. Ind. Electron., vol. 50, no. 5, pp. 936-943, Oct. 2003.
6. Y. Tipsuwan and M. Y. Chow, "Control methodologies in networked control systems," Contr. Eng. Prac., vol. 11, pp. 1099-1111, 2003.
7. D. D. Sijak, Large-Scale Dynamic Systems: Stability and Structure. Amsterdam, The Netherlands: North-Holland, 1978.
8. E. Freire, T. Bastos-Filho, M. Sarcinelli-Filho, and R. Carelli, "A new mobile robot control approach via fusion of control signal," IEEE Trans. Syst., Man, Cybern. B, vol. 34, pp. 419-429, Feb. 2004.
9. T. J. Procky and E. H. Mamdani, "A linguistic self-organizing process controllers," IFAC, J. Automatica, vol. 15, pp. 15-30, 1979.
10. L. X. Wang and J. M. Mendel, "Generating fuzzy rules by learning from examples," IEEE Trans. Syst., Man, Cybern. B, vol. 22, pp. 1414-1427, Nov./Dec. 1992.
11. Y. S. Kung and C. M. Liaw, "A fuzzy controller improving a linear model following controller for motor drives," IEEE Trans. Fuzzy Syst., vol. 2, pp. 194-202, Aug. 1994.
12. C. Li and R. Priemer, "Fuzzy control of unknown multiple-input-multiple-output plants," Fuzzy Sets and Syst., vol. 104, pp. 245-267, 1999.
13. C. L. Hwang and C. Jan, "Optimal and reinforced robustness designs of fuzzy variable structure tracking control for a piezoelectric actuator system," IEEE Trans. Fuzzy Syst., vol. 11, pp. 507-517, Aug. 2003.
14. Y. Hung, W. Gao, and J. C. Hung, "Variable structure control: A survey," IEEE Trans. Ind. Electron., vol. 40, no. 1, pp. 2-22, Feb. 1993.
15. C. L. Hwang, "Robust discrete variable structure control with finite-time approach to switching surface," IFAC, Int. J. Automatica, vol. 38, no. 1, pp. 167-175, 2002.
16. G. C. Hwang and S. C. Lin, "A stability approach to fuzzy control design for nonlinear systems," Fuzzy Sets and Syst., vol. 48, pp. 279-287, 1992.
17. C. L. Hwang and C. W. Hsu, "A thin and deep hole drilling using a fuzzy discrete sliding mode control with a woodpeckering strategy," Proc. IME J. Syst., Contr. Eng., vol. 209, pp. 281-291, 1995.
18. J. C. Latombe, Robot Motion Planning. Norwell, MA: Kluwer, 1991.
19. L. Podsedkowski, "Path planner for nonholonomic mobile robot with fast replanning procedure," in Proc. IEEE Int. Conf. Robotics Automation, Leuven, Belgium, May 1998, pp. 3588-3593.
20. S. X. Yang and M. Q.-H. Meng, "Real-time collision-free motion planning of a mobile robot using a neural dynamics-based approach," IEEE Trans. Neural Netw., vol. 14, no. 6, pp. 1541-1552, Nov. 2003.
21. H. Li and S. X. Yang, "Analysis and design of an embedded fuzzy motion controller for a behavior-based nonholonomic mobile robot," in Proc. IEEE Int. Symp. Intell. Control, Houston, TX, Oct. 2003, pp. 246-251.
22. T.-H. S. Li, S. J. Chang, and Y. X. Chen, "Implement of human-like driving skills by autonomous fuzzy behavior control on an FPGA-based car-like mobile robot," IEEE Trans Ind. Electron., vol. 50, no. 5, pp. 867-880, 2003.
23. R. Fierro and F. L. Lewis, "Control of a nonholonomic mobile robot using neural networks," IEEE Trans. Neural Netw., vol. 9, no. 4, pp. 589-600, May 1998.
24. H. K. Khalil, Nonlinear Systems, 2nd ed. Englewood Cliffs, NJ: Prentice-Hall, 1996.
25. C. L. Hwang, "Fourier series neural network-based adaptive variable structure control for servo systems with friction," Proc. IEE -D, Contr. Theory Appl., vol. 144, no. 6, pp. 559-565, 1997.
26. K. J. Aström and B. Wittenmark, Computer-Controlled Systems-Theory and Design, 3rd ed. Englewood Cliffs, NJ: Prentice-Hall, 1997.