Adaptive type-2 fuzzy tracking control of wheeled mobile robots

Min Chi Kao, Chih Jui Lin, Chi Lun Feng, Tzuu-Hseng S. Li, Hui Min Yen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationiFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications
PublisherIEEE Computer Society
Pages1-6
Number of pages6
ISBN (Print)9781479903863
DOIs
Publication statusPublished - 2013 Jan 1
EventiFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications - Taipei, Taiwan
Duration: 2013 Dec 62013 Dec 8

Publication series

NameiFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications

Other

OtheriFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications
CountryTaiwan
CityTaipei
Period13-12-0613-12-08

All Science Journal Classification (ASJC) codes

  • Applied Mathematics

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  • Cite this

    Kao, M. C., Lin, C. J., Feng, C. L., Li, T-H. S., & Yen, H. M. (2013). Adaptive type-2 fuzzy tracking control of wheeled mobile robots. In iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications (pp. 1-6). [6825400] (iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications). IEEE Computer Society. https://doi.org/10.1109/iFuzzy.2013.6825400