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• W2024708266 abstract "This paper studies the problem of motion and control law design for a mobile robot that moves inside a partially unknown environment with stationary obstacles and moving objects, under the assumption of parametric uncertainty in the model that describes the motion of the robot. A new variable structure system, that combines the basic principles of sliding-mode control with fuzzy logic, is presented which allows the robot to execute the desired motion. The proposed controller, named reduced complexity sliding-mode fuzzy-logic controller (RC-SMFLC), is characterised by its robustness and simplicity. The controller implements via fuzzy reasoning the following two rules: “IF sgn(e(t)ė(t))<0 THEN do not change the control action” and “IF sgn(e(t)ė(t))>0 THEN change the control action”, where control 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." @default.
• W2024708266 created "2016-06-24" @default.
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• W2024708266 date "2000-10-01" @default.
• W2024708266 modified "2023-10-18" @default.
• W2024708266 title "Mobile robot motion control in partially unknown environments using a sliding-mode fuzzy-logic controller" @default.
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• W2024708266 doi "https://doi.org/10.1016/s0921-8890(00)00094-4" @default.
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