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Research Papers

Tracking Design of an Omni-Direction Autonomous Ground Vehicle by Hierarchical Enhancement Using Fuzzy Second-Order Variable Structure Control

[+] Author and Article Information
Chih-Lyang Hwang

Department of Electrical Engineering,
National Taiwan University of
Science and Technology,
43, Section 4, Keelung Road,
Taipei 10607, Taiwan, China
e-mails: clhwang@mail.ntust.edu.tw;
chihlyang.hwang@gmail.com

Yunta Lee

Department of Electrical Engineering,
National Taiwan University of
Science and Technology,
43, Section 4, Keelung Road,
Taipei 10607, Taiwan, China
e-mail: teddy.eed00@g2.nctu.edu.tw

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received January 10, 2017; final manuscript received December 19, 2017; published online April 4, 2018. Editor: Joseph Beaman.

J. Dyn. Sys., Meas., Control 140(9), 091005 (Apr 04, 2018) (11 pages) Paper No: DS-17-1017; doi: 10.1115/1.4039277 History: Received January 10, 2017; Revised December 19, 2017

Owing to the hierarchical architecture of the derived model of the omni-direction autonomous ground vehicle (OD-AGV), the virtual desired trajectory (VDT) is first designed by the first switching surface, which is set as the linear dynamic pose error of the OD-AGV. In sequence, the trajectory tracking control (TTC) is designed by the second switching surface, which is the linear dynamic tracking error of the VDT. To deal with nonlinear time-varying uncertainties including system disturbance and different ground conditions, enhanced fuzzy second-order variable structure control (EF2VSC) is designed into both VDT and TTC. Finally, the experiments for tracking the circular trajectories with different curvatures, traveling velocities, and poses of the OD-AGV are presented to validate the effectiveness and robustness of the proposed hierarchical enhancement using fuzzy second-order variable structure control (HEF2VSC).

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Figures

Grahic Jump Location
Fig. 1

Schematic description of an OD-AGV

Grahic Jump Location
Fig. 2

The overall control block diagram

Grahic Jump Location
Fig. 3

Block diagram of the ijth EF2VSC

Grahic Jump Location
Fig. 4

Membership functions with triangular type

Grahic Jump Location
Fig. 5

The proposed OD-AGV by HEF2VSC: (a) photograph, (b) mechanism design, and (c) block diagram

Grahic Jump Location
Fig. 6

Response of the desired circular trajectory with different curvatures and traveling velocities for the OD-AGV by the proposed HEF2VSC: (a) (xd (t), yd (t)) (…) and (x (t), y(t)) (—), (b) (xd(t), yd(t), ψd(t))(…) and (x(t), y(t), ψ(t)) (—), (c) u1 (t), u2 (t), and u3 (t), (d) s11(t), s12 (t), and s13 (t); s21 (t), s22 (t), and s23 (t), and (e) ǁE1(t)ǁ and ǁE2(t

Grahic Jump Location
Fig. 7

Response of Fig. 6 case with ψd(t)=0 (a) (xd (t), yd (t)) (…) and (x (t), y(t)) (—), (b) (xd(t), yd(t), ψd(t))(…) and (x(t), y(t), ψ(t)) (—), (c) u1 (t), u2 (t), and u3 (t), (d) s11(t), s12 (t), and s13 (t); s21 (t), s22 (t), and s23 (t), and (e) ǁE1(t)ǁ and ǁE2(t

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