Takagi-Sugeno Fuzzy Formation Control of Nonholonomic Robots

被引：0
|
作者：
Karim, Narges Aghaie [1 ]
Ardestani, Mahdi Alinaghizadeh [2 ]
机构：
[1] Islamic Azad Univ, Dept Elect Engn, Qazvin Branch, Qazvin, Iran
[2] Qom Univ Technol, Dept Elect & Comp Engn, Qom, Iran
来源：
2016 4TH INTERNATIONAL CONFERENCE ON CONTROL, INSTRUMENTATION, AND AUTOMATION (ICCIA) | 2016年
关键词：
nonholonomic mobile robots; formation control; takagi-sugeno fuzzy algorithm; tracking control;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper, a new controller is proposed to solve a formation control problem in the leader-follower framework. The proposed controller is based on Takagi-Sugeno Fuzzy algorithm. The control laws have 25 rules for velocity and angular velocity control loops of nonholonomic robot. As a result, the formation is achieved with much more enhanced robust formation performance. Simulation results illustrate the improved performance of the proposed controller compared to PID adaptive controller.
引用
收藏
页码：178 / 183
页数：6
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