Adaptive Neuro-Fuzzy Inference System for a Three Wheeled Omnidirectional Mobile Robot

被引：0
|
作者：
Alsharkawi, Adham [1 ]
Al-Fetyani, Mohammad [1 ]
Ljaabo, Enas M. [1 ]
Khasawneh, Hussam [1 ]
机构：
[1] Univ Jordan, Dept Mechatron Engn, Amman, Jordan
来源：
2020 3RD INTERNATIONAL CONFERENCE ON APPLIED ENGINEERING (ICAE) | 2020年
关键词：
Omnidirectional mobile robot; Trajectory tracking control; Kinematic model; Adaptive Neuro-Fuzzy Inference System; TRACKING CONTROL;
D O I：
10.1109/ICAE50557.2020.9350379
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
This paper presents an Adaptive Neuro-Fuzzy Inference System (ANFIS)-based controller For trajectory tracking of a three-wheeled omnidirectional mobile robot. The strength of the ANFIS-based controller lies in the fact that it integrates the principles of neural networks and fuzzy logic, and hence, it has the potential of capturing the benefits of both in a single framework. The ANFIS-based controller is kinematic-based, and thus a forward kinematic model of the mobile robot is constructed. The effectiveness of the proposed ANFIS-based controller is evaluated in a nonlinear simulation environment. Simulation results showed that the ANFIS-based controller indeed outperformed a well-tuned nonlinear sliding mode controller.
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页数：6
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