Intelligent backstepping sliding-mode control using recurrent interval type 2 fuzzy neural networks for a ball-riding robot

This paper presents an intelligent backstepping sliding-mode control using recurrent interval type 2 fuzzy neural networks (RIT2FNN) for motion control of a ball-riding robot. After brief description of the dynamic model of the robot with viscous and Coulomb frictions, a backstepping sliding-mode co...

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Bibliographic Details
Main Authors: Cheng-Kai Chan, Ching-Chih Tsai
Format: Conference Proceeding
Language:English
Subjects:
Backstepping
ball-riding robot
Equations
Mathematical model
Mobile robots
recurrent interval type 2 fuzzy neural networks (RIT2FNN)
Sliding mode control
trajectory tracking
Vectors
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Summary:This paper presents an intelligent backstepping sliding-mode control using recurrent interval type 2 fuzzy neural networks (RIT2FNN) for motion control of a ball-riding robot. After brief description of the dynamic model of the robot with viscous and Coulomb frictions, a backstepping sliding-mode control using hierarchical aggregated sliding control method and RIT2FNN is proposed to accomplish robust trajectory tracking of the robot in the presence of mass variations, terrain-dependent viscous and Coulomb frictions. Computer simulations are conducted to illustrate the effectiveness of the proposed control method.
ISSN:2377-5823
DOI:10.1109/iFUZZY.2012.6409695