Owing to the hierarchical architecture of the derived model of the omni-direction autonomous ground vehicle (OD-AGV), the virtual desired trajectory (VDT) is first designed by the first switching surface, which is set as the linear dynamic pose error of the OD-AGV. In sequence, the trajectory tracking control (TTC) is designed by the second switching surface, which is the linear dynamic tracking error of the VDT. To deal with nonlinear time-varying uncertainties including system disturbance and different ground conditions, enhanced fuzzy second-order variable structure control (EF2VSC) is designed into both VDT and TTC. Finally, the experiments for tracking the circular trajectories with different curvatures, traveling velocities, and poses of the OD-AGV are presented to validate the effectiveness and robustness of the proposed hierarchical enhancement using fuzzy second-order variable structure control (HEF2VSC).
Skip Nav Destination
Article navigation
September 2018
Research-Article
Tracking Design of an Omni-Direction Autonomous Ground Vehicle by Hierarchical Enhancement Using Fuzzy Second-Order Variable Structure Control
Chih-Lyang Hwang,
Chih-Lyang Hwang
Department of Electrical Engineering,
National Taiwan University of
Science and Technology,
43, Section 4, Keelung Road,
Taipei 10607, Taiwan, China
e-mails: clhwang@mail.ntust.edu.tw;
chihlyang.hwang@gmail.com
National Taiwan University of
Science and Technology,
43, Section 4, Keelung Road,
Taipei 10607, Taiwan, China
e-mails: clhwang@mail.ntust.edu.tw;
chihlyang.hwang@gmail.com
Search for other works by this author on:
Yunta Lee
Yunta Lee
Department of Electrical Engineering,
National Taiwan University of
Science and Technology,
43, Section 4, Keelung Road,
Taipei 10607, Taiwan, China
e-mail: teddy.eed00@g2.nctu.edu.tw
National Taiwan University of
Science and Technology,
43, Section 4, Keelung Road,
Taipei 10607, Taiwan, China
e-mail: teddy.eed00@g2.nctu.edu.tw
Search for other works by this author on:
Chih-Lyang Hwang
Department of Electrical Engineering,
National Taiwan University of
Science and Technology,
43, Section 4, Keelung Road,
Taipei 10607, Taiwan, China
e-mails: clhwang@mail.ntust.edu.tw;
chihlyang.hwang@gmail.com
National Taiwan University of
Science and Technology,
43, Section 4, Keelung Road,
Taipei 10607, Taiwan, China
e-mails: clhwang@mail.ntust.edu.tw;
chihlyang.hwang@gmail.com
Yunta Lee
Department of Electrical Engineering,
National Taiwan University of
Science and Technology,
43, Section 4, Keelung Road,
Taipei 10607, Taiwan, China
e-mail: teddy.eed00@g2.nctu.edu.tw
National Taiwan University of
Science and Technology,
43, Section 4, Keelung Road,
Taipei 10607, Taiwan, China
e-mail: teddy.eed00@g2.nctu.edu.tw
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received January 10, 2017; final manuscript received December 19, 2017; published online April 4, 2018. Editor: Joseph Beaman.
J. Dyn. Sys., Meas., Control. Sep 2018, 140(9): 091005 (11 pages)
Published Online: April 4, 2018
Article history
Received:
January 10, 2017
Revised:
December 19, 2017
Citation
Hwang, C., and Lee, Y. (April 4, 2018). "Tracking Design of an Omni-Direction Autonomous Ground Vehicle by Hierarchical Enhancement Using Fuzzy Second-Order Variable Structure Control." ASME. J. Dyn. Sys., Meas., Control. September 2018; 140(9): 091005. https://doi.org/10.1115/1.4039277
Download citation file:
Get Email Alerts
Cited By
Offline and Online Exergy-Based Strategies for Hybrid Electric Vehicles
J. Dyn. Sys., Meas., Control (May 2025)
Multi Combustor Turbine Engine Acceleration Process Control Law Design
J. Dyn. Sys., Meas., Control
A Distributed Layered Planning and Control Algorithm for Teams of Quadrupedal Robots: An Obstacle-Aware Nonlinear Model Predictive Control Approach
J. Dyn. Sys., Meas., Control (May 2025)
Active Data-Enabled Robot Learning of Elastic Workpiece Interactions
J. Dyn. Sys., Meas., Control (May 2025)
Related Articles
Adaptive Robust Control for Mirror-Stabilized Platform With Input Saturation
J. Dyn. Sys., Meas., Control (September,2018)
Nonlinear Robust Output Stabilization for Mechanical Systems Based on Luenberger-Like Controller/Observer
J. Dyn. Sys., Meas., Control (August,2017)
Composite Path Tracking Control for Tractor–Trailer Vehicles Via Constrained Model Predictive Control and Direct Adaptive Fuzzy Techniques
J. Dyn. Sys., Meas., Control (November,2017)
Model Following Adaptive Sliding Mode Tracking Control Based on a Disturbance Observer for the Mechanical Systems
J. Dyn. Sys., Meas., Control (May,2018)
Related Proceedings Papers
Related Chapters
Fault-Tolerant Control of Sensors and Actuators Applied to Wind Energy Systems
Electrical and Mechanical Fault Diagnosis in Wind Energy Conversion Systems
Advances in the Stochastic Modeling of Constitutive Laws at Small and Finite Strains
Advances in Computers and Information in Engineering Research, Volume 2
Dynamic Simulations to Become Expert in Order to Set Fuzzy Rules in Real Systems
International Conference on Advanced Computer Theory and Engineering, 4th (ICACTE 2011)