0
research-article

Tracking Design of an Omni-Direction Autonomouos 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, Taiwan 10607, China
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, Taiwan 10607, China
teddy.eed00@g2.nctu.edu.tw

1Corresponding author.

ASME doi:10.1115/1.4039277 History: Received January 10, 2017; Revised December 19, 2017

Abstract

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 1st 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 2nd 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 2nd 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 2nd order variable structure control (HEF2VSC).

Copyright (c) 2018 by ASME
Your Session has timed out. Please sign back in to continue.

References

Figures

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In