Self-organizing of Fuzzy Analytic Controller in Mobile Robot Path-Tracking Control

被引：0
|
作者：
Kirola, Marijo [1 ]
Novakovic, Branko [2 ]
机构：
[1] Univ Dubrovnik, HR-20000 Dubrovnik, Croatia
[2] Univ Zagreb, Fac Mech Engn & Naval Architecture, HR-10000 Zagreb, Croatia
来源：
STROJARSTVO | 2009年 / 51卷 / 01期
关键词：
Autonomous Mobile Robot; Fuzzy analytic controller; Membership Function; Reference trajectory; Self-organizing; LOGIC CONTROL;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
This paper proposes a modification of the existing analytic fuzzy controller which provides improvement of control performances. Also, a procedure for an automatic off-line parameter self-organization is proposed. Finally, the comparative simulation results of the mobile robot control with linear and analytic fuzzy PD controller on different path shapes are demonstrated.
引用
收藏
页码：49 / 62
页数：14
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