A fully fuzzy trajectory tracking control design for surveillance and security robots

Tzuu Hseng S. Li, Chih Yang Chen, Hui Ling Hung, Ying Chieh Yeh

Research output: Contribution to journalConference article

8 Citations (Scopus)

Abstract

The motivation of this paper is to confer the study of omni-directional trajectory motion control implemented by the SOPC system. In the hardware architecture, four mutual orthogonal omni-directional wheels are horizontally established on the plane of the chassis and four optical encoders are equipped with DC motors to read the data of angular velocity and compute the posture of the surveillance and security robot (SSR). The robot will track the desired trajectory which has been generated by the trajectory generation system. We present a fully-fuzzy trajectory tracking system which can compensate for the errors of the velocity and regulate the errors of the position based on the dynamic model. After dealing with the information, the correct trajectory motion can be determined. Finally, the experimental results indicate that the proposed omni-directional trajectory control scheme can be successfully applied to the SSR.

Original languageEnglish
Article number4811583
Pages (from-to)1995-2000
Number of pages6
JournalConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
DOIs
Publication statusPublished - 2008 Dec 1
Event2008 IEEE International Conference on Systems, Man and Cybernetics, SMC 2008 - Singapore, Singapore
Duration: 2008 Oct 122008 Oct 15

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Human-Computer Interaction

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