A Trajectory Tracking Controller With Dynamic Gains for Mobile Robots

被引：0
|
作者：
Resende, Cassius Z. [1 ]
Espinosa, F. [2 ]
Bravo, I. [2 ]
Sarcinelli-Filho, Mario [1 ]
Bastos-Filho, Teodiano F. [1 ]
机构：
[1] Univ Fed Espirito Santo, Dept Elect Engn, Av Fernando Ferrari 514, BR-29075910 Vitoria, ES, Brazil
[2] Univ Alcala de Henares, Dept Elect, E-28871 Madrid, Spain
来源：
2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2011年
关键词：
FUZZY CONTROL; STABILITY; SYSTEMS; DESIGN;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper presents a new fuzzy controller for trajectory tracking for unicycle-like mobile robots, represented by a Takagi-Sugeno fuzzy model. Such controller allows setting different gains for the controller, according to the values of the velocity of the trajectory and the values of the tracking error. The noise inherent to the robot odometry is treated by the fuzzy controller itself, not requiring the use of filters. The stability of the developed controller is proven based on the theory of Lyapunov. Experimental results are also presented, and show that the proposed controller is effectively able to guide the robot during a trajectory tracking task.
引用
收藏
页码：3746 / 3751
页数：6
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