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
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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
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AT emaduddin robustfuzzyslidingmodecontrollerforaskidsteeredvehiclesubjectedtofrictionvariations
AT jamshediqbal robustfuzzyslidingmodecontrollerforaskidsteeredvehiclesubjectedtofrictionvariations
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