{"id":1707,"date":"2024-09-17T21:16:42","date_gmt":"2024-09-17T21:16:42","guid":{"rendered":"https:\/\/sbia.org.br\/lnlm\/?page_id=1707"},"modified":"2024-09-17T21:19:25","modified_gmt":"2024-09-17T21:19:25","slug":"vol22-no1-art5","status":"publish","type":"page","link":"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art5\/","title":{"rendered":"Adaptive Imune Fuzzy Quasi-Sliding Mode Formation Tracking Control for Wheeled Mobile Robots with Obstacle Avoidance Under Incidence of Uncertainties and Disturbances: An Artificial Immune Systems Inspired Approach"},"content":{"rendered":"<p>Willy John Nakamura Goto <a href=\"https:\/\/orcid.org\/0009-0006-2143-8812\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1167\" src=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\" alt=\"orcid\" width=\"20\" height=\"20\" \/><\/a>, Douglas Wildgrube Bertol <a href=\"https:\/\/orcid.org\/0000-0002-6980-7422\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1167\" src=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\" alt=\"orcid\" width=\"20\" height=\"20\" \/><\/a>, &amp; Nard\u00eanio Almeida Martins <a href=\"https:\/\/orcid.org\/0000-0002-7979-3351\"><img loading=\"lazy\" decoding=\"async\" class=\"alignnone size-full wp-image-1167\" src=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/sites\/4\/2020\/09\/orcid.jpg\" alt=\"orcid\" width=\"20\" height=\"20\" \/><\/a><\/p>\n<p><strong>Abstract:<\/strong> This paper presents an adaptive immune fuzzy quasi-sliding mode kinematic control integrated with a PD dynamic control for the trajectory tracking and the leader-follower formation control by nonholonomic differential-drive wheeled mobile robots under incidence of uncertainties and disturbances. An immune regulation mechanism bio-inspired approach with reaction effect established by novel fuzzy rules set to adjust the control effort adaptively is designed, also using a fuzzy boundary layer and introducing an adaptation law for the immune portion gain online adjustment in such a way that they can also avert parameter drift, dealing with the drawbacks of a classic first-order sliding mode control, suppressing chattering and still maintaining the robustness with no a priori knowledge of the bounds of the disturbances. An obstacle avoidance strategy with a reactive method and variable avoidance radius is also proposed. The stability analysis is performed based on the Lyapunov theory. Simulation results demonstrate the proposed control effectiveness.<\/p>\n<p><strong>Keywords:<\/strong> Wheeled mobile robots, Sliding mode control, Leader-follower formation tracking control, Artificial immune systems, Uncertainties and Disturbances, Obstacle avoidance.<\/p>\n<p><strong>DOI code:<\/strong> <a href=\"http:\/\/dx.doi.org\/10.21528\/lnlm-vol22-no1-art5\">10.21528\/lnlm-vol22-no1-art5<\/a><\/p>\n<p><strong>PDF file:<\/strong> <a href=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/2024\/12\/vol22-no1-art5.pdf\">vol22-no1-art5.pdf<\/a><\/p>\n<p><strong>BibTex file:<\/strong> <a href=\"https:\/\/sbia.org.br\/lnlm\/wp-content\/uploads\/2024\/12\/vol22-no1-art5.bib\">vol22-no1-art5.bib<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"<p>Willy John Nakamura Goto , Douglas Wildgrube Bertol , &amp; Nard\u00eanio Almeida Martins Abstract: This paper presents an adaptive immune fuzzy quasi-sliding mode kinematic control integrated with a PD dynamic control for the trajectory tracking and the leader-follower formation control <a href=\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art5\/\" class=\"read-more\">Read More &#8230;<\/a><\/p>\n","protected":false},"author":1,"featured_media":0,"parent":1675,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"footnotes":""},"class_list":["post-1707","page","type-page","status-publish","hentry"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v26.9 - https:\/\/yoast.com\/product\/yoast-seo-wordpress\/ -->\n<title>Adaptive Imune Fuzzy Quasi-Sliding Mode Formation Tracking Control for Wheeled Mobile Robots with Obstacle Avoidance Under Incidence of Uncertainties and Disturbances: An Artificial Immune Systems Inspired Approach - Learning and NonLinear Models<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/sbia.org.br\/lnlm\/publicacoes\/vol22-no1\/vol22-no1-art5\/\" \/>\n<meta property=\"og:locale\" content=\"pt_BR\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Adaptive Imune Fuzzy Quasi-Sliding Mode Formation Tracking Control for Wheeled Mobile Robots with Obstacle Avoidance Under Incidence of Uncertainties and Disturbances: An Artificial Immune Systems Inspired Approach - Learning and NonLinear Models\" \/>\n<meta property=\"og:description\" content=\"Willy John Nakamura Goto , Douglas Wildgrube Bertol , &amp; 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