Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations.

Skid-steered vehicles (SSV) are gaining huge importance in the market due to their applications like construction, agricultural work, material handling etc. The accuracy of performing such tasks require a robust control algorithm. The design of such controller is very challenging task due to externa...

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Autores principales:	Yasir Mehmood, Jawad Aslam, Nasim Ullah, Ahmed A Alsheikhy, Emad Ud Din, Jamshed Iqbal
Formato:	article
Lenguaje:	EN
Publicado:	Public Library of Science (PLoS) 2021
Materias:	Medicine R Science Q
Acceso en línea:	https://doaj.org/article/f8a64a2c3da54d04a14db76c09052661
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spelling	oai:doaj.org-article:f8a64a2c3da54d04a14db76c090526612021-12-02T20:13:01ZRobust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations.1932-620310.1371/journal.pone.0258909https://doaj.org/article/f8a64a2c3da54d04a14db76c090526612021-01-01T00:00:00Zhttps://doi.org/10.1371/journal.pone.0258909https://doaj.org/toc/1932-6203Skid-steered vehicles (SSV) are gaining huge importance in the market due to their applications like construction, agricultural work, material handling etc. The accuracy of performing such tasks require a robust control algorithm. The design of such controller is very challenging task due to external disturbances caused by wheel-ground interaction and aerodynamic effects. This paper proposes robust fractional and integral order fuzzy sliding mode controllers (FSMC, FFSMC) for a skid-steered vehicles with varying coefficient of friction and a displaced center of gravity (CG). FFSMC controller reduces the outcome of forces generated as a result of ground tire interaction during skidding and friction variations. The proposed controllers are implemented for a four-wheel SSV under high-speed turning motion. A simulation environment is constructed by implementing the SSV dynamics with wheel-road model and the performance of the proposed algorithms is tested. The simulation test is conducted for a Pioneer-3AT (P-3AT) robot SSV vehicle with displaced CG and variable coefficient of tires friction. Simulation results demonstrate the efficiency of the proposed FFSMC algorithm in term of reduced state errors and minimum chattering. The proposed controller compensates the effect of different responses of the wheels generated as a result of variable CG. The chattering phenomenon generated by conventional SMCs is also minimized by fuzzy tuning approach.Yasir MehmoodJawad AslamNasim UllahAhmed A AlsheikhyEmad Ud DinJamshed IqbalPublic Library of Science (PLoS)articleMedicineRScienceQENPLoS ONE, Vol 16, Iss 11, p e0258909 (2021)
institution	DOAJ
collection	DOAJ
language	EN
topic	Medicine R Science Q
spellingShingle	Medicine R Science Q Yasir Mehmood Jawad Aslam Nasim Ullah Ahmed A Alsheikhy Emad Ud Din Jamshed Iqbal Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations.
description	Skid-steered vehicles (SSV) are gaining huge importance in the market due to their applications like construction, agricultural work, material handling etc. The accuracy of performing such tasks require a robust control algorithm. The design of such controller is very challenging task due to external disturbances caused by wheel-ground interaction and aerodynamic effects. This paper proposes robust fractional and integral order fuzzy sliding mode controllers (FSMC, FFSMC) for a skid-steered vehicles with varying coefficient of friction and a displaced center of gravity (CG). FFSMC controller reduces the outcome of forces generated as a result of ground tire interaction during skidding and friction variations. The proposed controllers are implemented for a four-wheel SSV under high-speed turning motion. A simulation environment is constructed by implementing the SSV dynamics with wheel-road model and the performance of the proposed algorithms is tested. The simulation test is conducted for a Pioneer-3AT (P-3AT) robot SSV vehicle with displaced CG and variable coefficient of tires friction. Simulation results demonstrate the efficiency of the proposed FFSMC algorithm in term of reduced state errors and minimum chattering. The proposed controller compensates the effect of different responses of the wheels generated as a result of variable CG. The chattering phenomenon generated by conventional SMCs is also minimized by fuzzy tuning approach.
format	article
author	Yasir Mehmood Jawad Aslam Nasim Ullah Ahmed A Alsheikhy Emad Ud Din Jamshed Iqbal
author_facet	Yasir Mehmood Jawad Aslam Nasim Ullah Ahmed A Alsheikhy Emad Ud Din Jamshed Iqbal
author_sort	Yasir Mehmood
title	Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations.
title_short	Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations.
title_full	Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations.
title_fullStr	Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations.
title_full_unstemmed	Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations.
title_sort	robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations.
publisher	Public Library of Science (PLoS)
publishDate	2021
url	https://doaj.org/article/f8a64a2c3da54d04a14db76c09052661
work_keys_str_mv	AT yasirmehmood robustfuzzyslidingmodecontrollerforaskidsteeredvehiclesubjectedtofrictionvariations AT jawadaslam robustfuzzyslidingmodecontrollerforaskidsteeredvehiclesubjectedtofrictionvariations AT nasimullah robustfuzzyslidingmodecontrollerforaskidsteeredvehiclesubjectedtofrictionvariations AT ahmedaalsheikhy robustfuzzyslidingmodecontrollerforaskidsteeredvehiclesubjectedtofrictionvariations AT emaduddin robustfuzzyslidingmodecontrollerforaskidsteeredvehiclesubjectedtofrictionvariations AT jamshediqbal robustfuzzyslidingmodecontrollerforaskidsteeredvehiclesubjectedtofrictionvariations
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Robust fuzzy sliding mode controller for a skid-steered vehicle subjected to friction variations.

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