@inproceedings{11399fab60004100bc2a0ac5955b9bf5,
title = "A TSK fuzzy model and adaptive sliding-mode controller design for four-Mecanum-wheel omni-directional mobile free-bases",
abstract = "In this paper, we propose a Takagi-Sugeno-Kang (TSK) fuzzy model for a four-Mecanum-wheel omni-directional mobile free-base (4MW-ODMFB) with system uncertainties and external disturbances based on the model given in [12], [13], and then design an adaptive sliding-mode control (ASMC) system for trajectory tracking of 4MW-ODMFB, which combines the techniques of adaptive control and sliding-mode control. By using Lyapunov method we prove that the ASMC system is global asymptotic stable. We also conduct simulation experiments in MATLAB environment to test our TSK fuzzy model and the ASMC method. All the simulation results demonstrate the effectiveness of the proposed TSK fuzzy model and the stability and robustness of ASMC system.",
keywords = "Lyapunov method, Omni-directional mobile free-base, TSK fuzzy model, adaptive sliding-mode control",
author = "Zhang, \{Qi Ye\} and Dan Li and Pei, \{Wen Jing\} and Jia, \{Ying Min\}",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; Chinese Automation Congress, CAC 2015 ; Conference date: 27-11-2015 Through 29-11-2015",
year = "2016",
month = jan,
day = "13",
doi = "10.1109/CAC.2015.7382807",
language = "英语",
series = "Proceedings - 2015 Chinese Automation Congress, CAC 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "1862--1867",
booktitle = "Proceedings - 2015 Chinese Automation Congress, CAC 2015",
address = "美国",
}