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Fuzzy Adaptive Dynamic Surface Control for Omnidirectional Robot

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Soft Computing for Biomedical Applications and Related Topics

Part of the book series: Studies in Computational Intelligence ((SCI,volume 899))

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Abstract

This paper proposes a new controller for the four-wheeled Omni robot (FWOR) based on dynamic surface control (DSC). DSC algorithm is constructed from sliding mode control and backstepping technique, it has advantages of both the above typical mechanism and avoids their drawbacks. The coefficients that affect speed toward zero of the sliding surface are adjusted by the Fuzzy logic controller. The fuzzy inference rules are established by the tracking error signal and its derivative. The effectiveness of the new algorithm is shown through simulations.

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Acknowledgements

This research was funded by Project “Research, Design And Manufacturing Smart Human-Form IVASTBot Robot Applied In Communication And Serving Human” coded VAST01.01/20-21 implemented by the Institute of Physics, Vietnam Academy of Science and Technology.

Author information

Authors and Affiliations

  1. Hanoi University of Industry, Hanoi, Vietnam

    Duyen Kim Thi Ha

  2. Vietnam Academy of Science and Technology, Hanoi, Vietnam

    Tien Manh Ngo, Minh Ngoc Pham & Vinh Quang Thai

  3. Hanoi University of Science and Technology, Hanoi, Vietnam

    Minh Xuan Phan, Dung Tien Pham & Dinh Duc Nguyen

  4. The University of Economics-Technology for Industries, Hanoi, Vietnam

    Hiep Quang Do

Authors
  1. Duyen Kim Thi Ha
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  2. Tien Manh Ngo
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  3. Minh Ngoc Pham
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  4. Vinh Quang Thai
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  5. Minh Xuan Phan
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  6. Dung Tien Pham
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  7. Dinh Duc Nguyen
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  8. Hiep Quang Do
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Corresponding author

Correspondence to Tien Manh Ngo .

Editor information

Editors and Affiliations

  1. Department of Computer Science, University of Texas at El Paso, El Paso, TX, USA

    Vladik Kreinovich

  2. Informatics Division, Thang Long University, Hanoi, Vietnam

    Nguyen Hoang Phuong

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Ha, D.K.T. et al. (2021). Fuzzy Adaptive Dynamic Surface Control for Omnidirectional Robot. In: Kreinovich, V., Hoang Phuong, N. (eds) Soft Computing for Biomedical Applications and Related Topics. Studies in Computational Intelligence, vol 899. Springer, Cham. https://doi.org/10.1007/978-3-030-49536-7_22

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