CAJ | 학술논문

对质心位置未知的移动机器人系统设计了基于快速终端滑模的模糊自适应路径跟踪控制方法。该方法采用模糊逻辑系统逼近控制器中的未知函数，基于李亚普诺夫稳定性分析方法对未知参数设计自适应律，并设计鲁棒控制器来补偿逼近误差。该方法不但可以保证闭环系统中的所有信号有界，而且可使跟踪误差在有限时间内收敛到原点的小邻域内。仿真结果验证了方法的有效性。
대질심위치미지적이동궤기인계통설계료기우쾌속종단활모적모호자괄응로경근종공제방법。해방법채용모호라집계통핍근공제기중적미지함수，기우리아보낙부은정성분석방법대미지삼수설계자괄응률，병설계로봉공제기래보상핍근오차。해방법불단가이보증폐배계통중적소유신호유계，이차가사근종오차재유한시간내수렴도원점적소린역내。방진결과험증료방법적유효성。
A fuzzy adaptive path tracking control scheme is presented for a mobile robots with uncertain position of centroid based on Fast Terminal Sliding Mode(FTSM). The fuzzy system is used to approximate the unknown function of controller, unknown parameters are adjusted by using Lyapunov stability analysis, and the robust controller is designed to compensate for the approximation errors. The proposed design scheme is proved to guarantee that all signals in the closed-loop system are bounded and that the tracking error converges to a small neighborhood of the origin in finite time. Simulation results verify the effectiveness of the proposed scheme.