Hybrid integral sliding mode and fuzzy logic control for omnidirectional robots: modified elephant herding optimization for trajectory tracking

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F61989100%3A27730%2F25%3A10259013" target="_blank" >RIV/61989100:27730/25:10259013 - isvavai.cz</a>

Result on the web

<a href="https://www.nature.com/articles/s41598-025-19449-x" target="_blank" >https://www.nature.com/articles/s41598-025-19449-x</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1038/s41598-025-19449-x" target="_blank" >10.1038/s41598-025-19449-x</a>

Result language

angličtina

Original language name

Hybrid integral sliding mode and fuzzy logic control for omnidirectional robots: modified elephant herding optimization for trajectory tracking

Original language description

Trajectory tracking and robust motion control remain central challenges in autonomous robotic systems operating under nonlinear and uncertain conditions. This study proposes a novel hybrid control framework that integrates Integral Sliding Mode Control (ISMC), whose control parameters are calculated using a Sugeno-type Fuzzy Logic Controller (FLC) and a Modified Elephant Herding Optimization (MEHO) algorithm. The approach is implemented on a three-wheeled omnidirectional mobile robot (TOMR), with detailed dynamic and kinematic modeling. The MEHO algorithm enhances exploration-exploitation balance and accelerates convergence through adaptive update mechanisms. To assess the performance of the proposed controller, a triangle and C-shape trajectories are implemented. Simulation results using MATLAB R2022b show that the proposed system reduces positional errors in the X and Y axes to below 0.005 m, and orientation error to 0.0014 rad within 2 s. The root mean square errors (RMSE) for X, Y, and orientation for the triangle trajectory are 3.48 x 10(-)(5) m, 2.51 x 10(-)(6) m, and 0.00287 rad, respectively and for the C-shape trajectory are 6.538*10- 6 m, 2.614*10- 6 m, and 1.051*10- 5 rad for X, Y, and orientation, respectively. Compared to classical EHO-based and adaptive neural sliding controllers, the proposed method achieves up to 50% lower torque variation and over 60% faster settling time. The modular and learning-based design enables generalization to other robotic platforms, including aerial robots operating in uncertain or dynamic environments.

Czech name

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Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

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OECD FORD branch

20200 - Electrical engineering, Electronic engineering, Information engineering

Project

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Continuities

O - Projekt operacniho programu

Publication year

2025

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Scientific Reports

ISSN

2045-2322

e-ISSN

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Volume of the periodical

15

Issue of the periodical within the volume

1

Country of publishing house

GB - UNITED KINGDOM

Number of pages

33

Pages from-to

1-37

UT code for WoS article

001593359600015

EID of the result in the Scopus database

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