Adaptive Type-2 Fuzzy Tracking Control of Wheeled Mobile Robots

被引：0

作者：

Kao, Min-Chi ^{[1
]}

Lin, Chih-Jui ^{[1
]}

Feng, Chi-Lun ^{[1
]}

Li, Tzuu-Hseng S. ^{[1
]}

Yen, Hui-Min ^{[2
]}

机构：

[1] Natl Cheng Kung Univ, Dept Elect Engn, aiRobots Lab, 1 Univ Rd, Tainan 70101, Taiwan

[2] Kun Shan Univ, Dept Elect Engn, Tainan 710003, Taiwan

来源：

2013 INTERNATIONAL CONFERENCE ON FUZZY THEORY AND ITS APPLICATIONS (IFUZZY 2013) | 2013年

关键词：

Adaptive Control; Type-2 Fuzzy Logic; Lyapunov Stability; Wheeled Mobile Robot; VARIABLE-STRUCTURE CONTROL; SLIDING-MODE CONTROLLERS; MECHANICAL SYSTEMS; STABILITY ANALYSIS; DYNAMIC CONTROL; LOGIC; DESIGN; MANIPULATOR;

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 mainly confers the development of tracking controller design for wheeled mobile robots with plant uncertainties and external disturbances. This paper proposes a unified and systematic procedure to design adaptive fuzzy tracking controllers for such system. At first an adaptive fuzzy tracking controller (AFTC) is designed for the nonholonomic constrained wheeled mobile robots without considering the model of DC motors. Furthermore, an AFTC and an adaptive type-2 fuzzy tracking controller (AT2FTC) are presented for wheeled mobile robots with the model of DC motors, where the backstepping techniques are adopted. The stability of closed-loop system and the convergence of the proposed tracking controllers are proved by using the Lyapunov and uniformly ultimately bounded stability theories. Finally, several simulation results of adaptive fuzzy tracking and adaptive type-2 fuzzy tracking controlled wheeled mobile robots are executed, where the AT2FTC provides the best tracking performance.

引用

页码：1 / 6

页数：6

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