Title: A hybrid fuzzy-sliding mode controller for a mobile robot

Authors: Maïssa Boujelben; Chokri Rekik; Nabil Derbel

Addresses: Department of Electrical Engineering, National school of Engineering of Sfax, Sfax University, Tunisia ' Department of Electrical Engineering, National school of Engineering of Sfax, Sfax University, Tunisia ' Department of Electrical Engineering, National school of Engineering of Sfax, Sfax University, Tunisia

Abstract: This paper deals with the autonomous navigation problem. Its objective is the driving of a mobile robot to the goal position without colliding with obstacles. Therefore, a new hybrid approach based on the combination of fuzzy logic systems with sliding mode method is proposed. More specifically, fuzzy logic is a reactive decision making method and it is devoted to bring the robot towards the target, whereas sliding mode is used to ensure the obstacle avoidance behaviour. The robot should follow accurately a limit cycle trajectory using a sliding mode controller. This limit cycle trajectory allows the generation of a smooth trajectory in the vicinity of obstacles. Through simulation results, we can conclude that the robot is able to generate suitable trajectories in different environments, which demonstrates the efficiency and the reliability of the proposed approach.

Keywords: autonomous navigation; mobile robots; obstacle avoidance; fuzzy logic; sliding mode control; fuzzy FMC; fuzzy control; limit cycle; robot control; robot navigation; automonous robots; trajectory control; simulation.

DOI: 10.1504/IJMIC.2016.075816

International Journal of Modelling, Identification and Control, 2016 Vol.25 No.3, pp.155 - 164

Received: 11 Jun 2015
Accepted: 06 Jul 2015
Published online: 06 Apr 2016 *

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