NONLINEAR CONTROL OF WHEELED MOBILE ROBOT: A FUZZY APPROACH

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KEYGHOBADI J.; MENHAJ M.B.; KABGANIAN M.

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Journal: AMIRKABIR Year:2007 | Volume:17 | Issue:65-B Page(s): 41-51

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Information Journal Paper

Title

NONLINEAR CONTROL OF WHEELED MOBILE ROBOT: A FUZZY APPROACH

Author(s)

KEYGHOBADI J. | MENHAJ M.B. | KABGANIAN M. | Issue Writer Certificate

Keywords

MOBILE ROBOTQ3

DYNAMIC MODELINGQ2

NONLINEAR CONTROLQ3

ADAPTIVEQ2

FUZZYQ2

ESTIMATIONQ2

IDENTIFICATIONQ2

Abstract

In this paper, NONLINEAR CONTROL for path tracking of a 2-DOF Wheeled MOBILE ROBOT (WMR) is presented. This problem nowadays has been tackled by many authors in various applications. NONLINEAR CONTROL for WMRs requires unknown parameters ESTIMATION. This paper fully examines the effects of new dynamical models in both local and global coordinates on both ESTIMATION and tracking. The dynamic model in global coordinates has a profound effect on designing a NONLINEAR CONTROL, because it makes perfect compensation for initial off-track conditions and let the regressor matrix be highly exited leading to a better parameter ESTIMATION. A NONLINEAR CONTROLler whose parameters are tuned using FUZZY computations is developed. It is shown that FUZZY tuning of the controller instead of keeping the gains fixed makes the overall system more robust against noise while the input torque is remarkably reduced. This paper further introduces a FUZZY controller merely based on linguistic rules to control the WMR tracking problem. In this approach, in order to make the design simple and yet efficient, the process of parameter ESTIMATION which is very time consuming is eliminated.

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APA: Copy

KEYGHOBADI, J., MENHAJ, M.B., & KABGANIAN, M.. (2007). NONLINEAR CONTROL OF WHEELED MOBILE ROBOT: A FUZZY APPROACH. AMIRKABIR, 17(65-B), 41-51. SID. https://sid.ir/paper/907/en

Vancouver: Copy

KEYGHOBADI J., MENHAJ M.B., KABGANIAN M.. NONLINEAR CONTROL OF WHEELED MOBILE ROBOT: A FUZZY APPROACH. AMIRKABIR[Internet]. 2007;17(65-B):41-51. Available from: https://sid.ir/paper/907/en

IEEE: Copy

J. KEYGHOBADI, M.B. MENHAJ, and M. KABGANIAN, “NONLINEAR CONTROL OF WHEELED MOBILE ROBOT: A FUZZY APPROACH,” AMIRKABIR, vol. 17, no. 65-B, pp. 41–51, 2007, [Online]. Available: https://sid.ir/paper/907/en

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