The disturbances are the significant issue for the trajectory tracking of mobile robots. Therefore, an adequate control law is presented in this paper and this one is based on Global Terminal Sliding Mode (GTSM) with fuzzy control. This control law aims to guarantee the avoidance of the kinematic disturbances which are injected in the angular and linear velocities, respectively. Moreover, the dynamic model based on exponential reaching law is presented to avoid the uncertainties. The control law provides the asymptotic stability by taking into account the fuzzy rules and Lyapunov theory. Thus, the chattering phenomenon should be avoided. The simulation works prove the robustness of the proposed control law by considering the disturbances function and the robot can follow the desired trajectories.

This paper presents a new approach in the field of trajectory tracking for nonholonomic mobile robot in presence of disturbances. The proposed control design is constructed by a kinematic controller, based on PD sliding surface using fuzzy sliding mode for the angular and linear velocities disturbances, in order to tend asymptotically the robot posture error to zero. Thereafter a dynamic controller is presented using as a sliding surface design, a fast terminal function (FTF) whose parameters are generated by a genetic algorithm in order to converge the velocity errors to zero in finite time and guarantee the asymptotic stability of the system using a Lyapunov candidate. The elaborated simulation works in the case of different trajectories confirm the robustness of the proposed approach.

The main purpose of this paper is to integrate fuzzy logic technique and backstepping synthesis to sliding mode control to develop a Fuzzy Backstepping-Sliding Mode Controller (FBSMC) to resolve the problem of altitude and attitude tracking control of unmanned quadrotor systems under large external disturbances. First, a backstepping-sliding mode control for quadrotor is introduced. Moreover, a fuzzy logic system is employed to adapt the unknown switching gains to eliminate the chattering phenomenon induced by switching control on the conventional Backstepping-Sliding Mode Controller (BSMC). The dynamical motion equations are obtained by Euler-Newton formalism. The stability of the system is guaranteed in the sense of the Lyapunov stability theorem. Simulation results are carried out using Matlab/Simulink environment to illustrate the effectiveness and robustness of the proposed controller.

The paper proposes a new reliable fault-tolerant scheduling algorithm for real-time embedded systems. The proposed scheduling algorithm takes into consideration only one bus fault in multi-bus heterogeneous architectures, caused by hardware faults and compensated by software redundancy solutions. The proposed algorithm is based on both active and passive backup copies, to minimize the scheduling length of data on buses. In the experiments, this paper evaluates the proposed methods in terms of data scheduling length for a set of DAG benchmarks. The experimental results show the effectiveness of our technique.

The paper proposes a new reliable fault-tolerant scheduling algorithm for real-time embedded systems. The proposed algorithm is based on static scheduling that allows to include the dependencies and the execution cost of tasks and data dependencies in its scheduling decisions. Our scheduling algorithm is dedicated to multi-bus heterogeneous architectures with multiple processors linked by several shared buses. This scheduling algorithm is considering only one bus fault caused by hardware faults and compensated by software redundancy solutions. The proposed algorithm is based on both active and passive backup copies to minimize the scheduling length of data on buses. In the experiments, the proposed methods are evaluated in terms of data scheduling length for a set of DSP benchmarks. The experimental results show the effectiveness of our technique.