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

共 50 条

[21] 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
[22] Universal adaptive λ-tracking controller for wheeled mobile robots
Mazur, A
Hossa, R
[J]. ROBOT CONTROL 1997, VOLS 1 AND 2, 1998, : 33 - 38
[23] Fuzzy Reactive Control for Wheeled Mobile Robots
Chand, Praneel
[J]. PROCEEDINGS OF THE 2015 6TH INTERNATIONAL CONFERENCE ON AUTOMATION, ROBOTICS AND APPLICATIONS (ICARA), 2015, : 167 - 172
[24] Adaptive robust fuzzy control for path tracking of a wheeled mobile robot
Giap, Nguyen Hoang
Shin, Jin-Ho
Kim, Won-Ho
[J]. ARTIFICIAL LIFE AND ROBOTICS, 2008, 13 (01) : 134 - 138
[25] Fuzzy Neural Network Based Adaptive Iterative Learning Control Scheme for Velocity Tracking of Wheeled Mobile Robots
Lu, Xiaochun
Fei, Juntao
Huang, Jiao
[J]. 2017 6TH DATA DRIVEN CONTROL AND LEARNING SYSTEMS (DDCLS), 2017, : 106 - 111
[26] Adaptive trajectory tracking control of wheeled mobile robots based on integrated steering
Li, Jianhua
Zhuang, Jian
Wang, Sunan
[J]. Hsi-An Chiao Tung Ta Hsueh/Journal of Xi'an Jiaotong University, 2005, 39 (03): : 252 - 255
[27] Adaptive tracking control for a class of wheeled mobile robots with unknown skidding and slipping
Yoo, S. J.
[J]. IET CONTROL THEORY AND APPLICATIONS, 2010, 4 (10): : 2109 - 2119
[28] Obstacle Avoidance Method for Wheeled Mobile Robots Using Interval Type-2 Fuzzy Neural Network
Kim, Cheol-Joong
Chwa, Dongkyoung
[J]. IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2015, 23 (03) : 677 - 687
[29] A hierarchical type-2 fuzzy logic control architecture for autonomous mobile robots
Hagras, HA
[J]. IEEE TRANSACTIONS ON FUZZY SYSTEMS, 2004, 12 (04) : 524 - 539
[30] Trajectory tracking control for wheeled mobile robots based on a piecewise fuzzy Lyapunov function
Zhang, Jia-Yuan
Li, Hong-Bo
Liu, He-Ping
[J]. Gongcheng Kexue Xuebao/Chinese Journal of Engineering, 2015, 37 (07): : 955 - 964

← 1 2 3 4 5 →