Design of Adjustable Slider Controller in Combination with A* Algorithm in Motion Control for Mobile Robot

Abstract

This article presents an Adaptive Fuzzy Logic Dynamic Surface Controller (AFDSC) combined with the A* optimal path-finding algorithm for mobile robots' following trajectory tracking with the nonlinear system changes in robot parameters and is affected by wheel sliding friction disturbances when operating on different terrains. This algorithm is built based on the DSC dynamic sliding surface control algorithm, promoting the effective advantages of DSC and using fuzzy logic to adaptively adjust the coefficients of the virtual control signal and keep The system status signal located on the sliding surface to overcome the instability of DSC when encountering this state. The stability and convergence of the closed-loop system are guaranteed based on Lyapunov analysis. The robot's path planning trajectory is performed by the A* algorithm. At the same time, the content of the article mentions programming and experimental operation for mobile robots using the ROS2 Rolling with Focal (20.04) software operating system on the Jetson Nano 4G embedded computer. The correctness, the proposed controller’s effectiveness, and the possibility of practical applications. Orbits are set as two periodic functions of period T as follows. Theoretical and experimental simulation results with position deviation-axis from 0.0038(m) to 0.0063(m), y-axis from 0.0029(m) to 0.0049(m), from 0.0021(rad) to 0.0035(rad). And experimental results with position error in the x-axis from 0.0062(m) to 0.0105(m), y-axis from 0.0042(m) to 0.0069(m), and 0.0031(rad) to 0.0053(rad)).

Keywords

• adaptive controller
• adaptive fuzzy dynamic surface controlzy (afdsc)
• dynamic surface control (dsc)
• mobile robot
• robot operating system &#40
• ros&#41