Trajectory Tracking Control of Wheeled Mobile Robots via Fuzzy Approach

被引：0
|
作者：
Yu Hao [1 ]
Tang Gong-You [1 ]
Su Hao [1 ]
Tian Chun-Peng [1 ]
Zhang Jian [1 ]
机构：
[1] Ocean Univ China, Coll Informat Sci & Engn, Qingdao 266100, Peoples R China
来源：
2014 33RD CHINESE CONTROL CONFERENCE (CCC) | 2014年
关键词：
Wheeled mobile robot; trajectory tracking; fuzzy system; model uncertainty;
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：
The trajectory tracking control of wheeled mobile robots is considered. The kinematics and dynamics model of a wheeled mobile robot is derived by using the Lagrange's equations. Since the values of parameters of the robot are difficult to determine accurately, the physical parameters of the robot were assumed to be unknown except the wheel radius and the distance between the two driving wheels. An integrated controller based on the dynamics model of the wheeled mobile robot with parameter uncertainty is proposed by using the approximation capacity of the fuzzy system. Simulation results show the effectiveness of the proposed method.
引用
收藏
页码：8444 / 8449
页数：6
相关论文
共 50 条
  • [1] Adaptive Fuzzy Control of Wheeled Mobile Robots With Prescribed Trajectory Tracking Performance
    Ding, Wei
    Zhang, Jin-Xi
    Shi, Peng
    [J]. IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2024, 32 (08) : 4510 - 4521
  • [2] From Nonlinear to Fuzzy Approaches in Trajectory Tracking Control of Wheeled Mobile Robots
    Keighobadi, Jafar
    Menhaj, Mohammad B.
    [J]. ASIAN JOURNAL OF CONTROL, 2012, 14 (04) : 960 - 973
  • [3] Discrete trajectory tracking control of wheeled mobile robots
    Tang, SB
    Zhuang, Y
    Liu, L
    Wang, W
    [J]. IEEE ROBIO 2004: PROCEEDINGS OF THE IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS, 2004, : 344 - 349
  • [4] An Adaptive Trajectory Tracking Control of Wheeled Mobile Robots
    Wang, Jianhua
    Lu, Zhanggang
    Chen, Weihai
    Wu, Xingming
    [J]. 2011 6TH IEEE CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA), 2011, : 1156 - 1160
  • [5] Polynomial Fuzzy Modeling and Tracking Control of Wheeled Mobile Robots via Sum of Squares Approach
    Kim, Cheol-Joong
    Kwon, Ji-Wook
    Chwa, Dongkyoung
    [J]. 2009 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-3, 2009, : 980 - 984
  • [6] Trajectory Tracking Control of Wheeled Mobile Robots Using Backstepping
    Wang, Sunxin
    Bao, Xuefeng
    Zhang, Shaohua
    Shen, Gaopan
    [J]. INTELLIGENT ROBOTICS AND APPLICATIONS, ICIRA 2019, PT V, 2019, 11744 : 289 - 300
  • [7] Vector Field Trajectory Tracking Control for Wheeled Mobile Robots
    Kwon, Ji-Wook
    Kim, Cheol-Joong
    Chwa, Dongkyoung
    [J]. 2009 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY, VOLS 1-3, 2009, : 1002 - 1007
  • [8] TRAJECTORY TRACKING OF WHEELED MOBILE ROBOTS USING A KINEMATICAL FUZZY CONTROLLER
    Amoozgar, Mohammad Hadi
    Sadati, Seyed Hossein
    Alipour, Khalil
    [J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION, 2012, 27 (01): : 49 - 59
  • [9] Analysis of Trajectory Tracking Control Algorithms for Wheeled Mobile Robots
    Hassan, Najva
    Saleem, Abdul
    [J]. IEACON 2021: 2021 IEEE INDUSTRIAL ELECTRONICS AND APPLICATIONS CONFERENCE (IEACON), 2021, : 236 - 241
  • [10] Trajectory tracking for wheeled mobile robots via model predictive control with softening constraints
    Yang, Hongjiu
    Guo, Mingchao
    Xia, Yuanqing
    Cheng, Lei
    [J]. IET CONTROL THEORY AND APPLICATIONS, 2018, 12 (02): : 206 - 214
12345