A fuzzy sliding mode controller from a reduced order model: A mobile robot experimental application

Juan Villacrés, Marco Herrera, Nelson Sotomayor, Oscar Camacho

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

3 Citas (Scopus)

Resumen

This paper presents a Sliding Mode Control with a Fuzzy PD+I surface for mobile robots that can be approximated by first-order-plus deadtime (FOPDT) models. The performance of this controller is compared with a Sliding Mode Control with a PID surface. An approximated model of a wheeled mobile robot is used in order to design the two controllers. The wheeled mobile robot is considered as two FOPDT processes. Simulation and experimental results are presented. The performance of the controllers is compared in terms of integral absolute error (IAE).

Idioma originalInglés
Título de la publicación alojada2017 4th International Conference on Control, Decision and Information Technologies, CoDIT 2017
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas674-678
Número de páginas5
ISBN (versión digital)9781509064656
DOI
EstadoPublicada - 8 nov. 2017
Publicado de forma externa
Evento4th International Conference on Control, Decision and Information Technologies, CoDIT 2017 - Barcelona, Espana
Duración: 5 abr. 20177 abr. 2017

Serie de la publicación

Nombre2017 4th International Conference on Control, Decision and Information Technologies, CoDIT 2017
Volumen2017-January

Conferencia

Conferencia4th International Conference on Control, Decision and Information Technologies, CoDIT 2017
País/TerritorioEspana
CiudadBarcelona
Período5/04/177/04/17

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