DESIGN OF A SLIDING MODE ADAPTIVE CONTROLLER COMBINED WITH A* ALGORITHM IN MOTION CONTROL FOR MOBILE ROBOT

Abstract

This paper presents the adaptive sliding-fuzzy controller combined with the optimal path-finding algorithm A* for mobile robots based on mobile robot dynamics. The fuzzy controller is used to adjust the parameters of the sliding surface to improve the quality of orbital tracking for the robot. This fuzzy controller is designed with two input state variables position error, robot position error derivative, and output variable as parameters for the adaptive sliding controller. Simulation results on Matlab/Simulink software. At the same time, the content of the article mentions programming and experimental operation for mobile robots using the ROS (Robot Operating System) operating system on Jetson Nano 4G embedded computer. Theoretical and experimental simulation results with position deviation x from 0.0038 to 0.0063 m, y-axis from 0.0029 to 0.0049 m, from q 0.0021 to 0.0035 rad. Experimental results with position error in the x-axis from 0.0062 to 0.0105 m, y-axis from 0.0042 to 0.0069 m, and q 0.0031 to 0.0053 rad.