Proxy Based-Fuzzy Sliding Mode Controller for Wheeled Mobile Robot Magellan Pro

Date

2015-07-31

Author

Turhan, Hasan İhsan

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In this paper, proxy based - fuzzy sliding mode control (PB-FSMC) concept and application of this new concept on wheeled mobile robot (WMR) Magellan Pro are presented. Kinematic and dynamic models of wheeled mobile robot are given and controller design for these models are developed and explained in detail. In order to examine feasibility and validity of the designed controller, PB-FSMC is compared with the fuzzy sliding mode control (FSMC) technique in a simulation environment.

Subject Keywords

Wheeled Mobile Robot Kinematics, Wheeled Mobile Robot Dinamics, Fuzzy Sliding Mode Control, Proxy Based - Fuzzy Sliding Mode Control

URI

https://hdl.handle.net/11511/56311

Conference Name

International Conference on Advanced Robotics (ICAR)

Collections

Department of Electrical and Electronics Engineering, Conference / Seminar

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Citation Formats

H. İ. Turhan, “Proxy Based-Fuzzy Sliding Mode Controller for Wheeled Mobile Robot Magellan Pro,” presented at the International Conference on Advanced Robotics (ICAR), Istanbul, TURKEY, 2015, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/56311.