Fuzzy Adaptive Dynamic Surface Control for Omnidirectional Robot

  • Duyen Kim Thi Ha
  • Tien Manh NgoEmail author
  • Minh Ngoc Pham
  • Vinh Quang Thai
  • Minh Xuan Phan
  • Dung Tien Pham
  • Dinh Duc Nguyen
  • Hiep Quang Do
Part of the Studies in Computational Intelligence book series (SCI, volume 899)


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.



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.


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2021

Authors and Affiliations

  • Duyen Kim Thi Ha
    • 1
  • Tien Manh Ngo
    • 2
    Email author
  • Minh Ngoc Pham
    • 2
  • Vinh Quang Thai
    • 2
  • Minh Xuan Phan
    • 3
  • Dung Tien Pham
    • 3
  • Dinh Duc Nguyen
    • 3
  • Hiep Quang Do
    • 4
  1. 1.Hanoi University of IndustryHanoiVietnam
  2. 2.Vietnam Academy of Science and TechnologyHanoiVietnam
  3. 3.Hanoi University of Science and TechnologyHanoiVietnam
  4. 4.The University of Economics-Technology for IndustriesHanoiVietnam

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