Proxy Based-Fuzzy Sliding Mode Controller for Wheeled Mobile Robot Magellan Pro

Turhan H. I.

International Conference on Advanced Robotics (ICAR), İstanbul, Turkey, 27 - 31 July 2015, pp.15-20 identifier

  • Publication Type: Conference Paper / Full Text
  • City: İstanbul
  • Country: Turkey
  • Page Numbers: pp.15-20
  • Middle East Technical University Affiliated: Yes


In this paper, proxy based - fuzzy sliding mode control (PB-FSMC) concept and application of this new concept on wheeled mobile robot (WMR) Magellan Pro are presented. Kinematic and dynamic models of wheeled mobile robot are given and controller design for these models are developed and explained in detail. In order to examine feasibility and validity of the designed controller, PB-FSMC is compared with the fuzzy sliding mode control (FSMC) technique in a simulation environment.