The design of internal type-2 fuzzy kinematic control and interval type-2 fuzzy terminal sliding-mode dynamic control of the wheeled mobile robot

Ming Ying Hsiao, Shun Hung Tsai, Tzuu Hseng S. Li, Kai Shiuan Shih, Chan Hong Chao, Chi Hua Liu

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

2 Citations (Scopus)

Abstract

In this paper, a combined intelligent technique is introduced for the trajectory tracking control of a nonholonomic wheeled mobile robot (WMR), which comprises an interval type-2 fuzzy kinematic control (IT2-FKC) and an interval type-2 fuzzy terminal sliding-mode dynamic control (IT2-FTSMDC). Firstly, an interval type-2 fuzzy logic controller designed for the kinematic model of the WMR is introduced, and then the IT2-FTSMDC is developed for the dynamic model of the WMR, which is a combination of the interval type-2 fuzzy logic control (IT2-FLC) and the terminal sliding-mode dynamic control (TSMDC). The validity of the proposed method is demonstrated via computer simulations. The simulation results show that the tracking performance of the IT2-FTSMDC is better than that of the FTSMDC.

Original languageEnglish
Title of host publicationProceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Pages1045-1050
Number of pages6
DOIs
Publication statusPublished - 2009 Dec 1
Event2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 - San Antonio, TX, United States
Duration: 2009 Oct 112009 Oct 14

Publication series

NameConference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
ISSN (Print)1062-922X

Other

Other2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
CountryUnited States
CitySan Antonio, TX
Period09-10-1109-10-14

All Science Journal Classification (ASJC) codes

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

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    Hsiao, M. Y., Tsai, S. H., Li, T. H. S., Shih, K. S., Chao, C. H., & Liu, C. H. (2009). The design of internal type-2 fuzzy kinematic control and interval type-2 fuzzy terminal sliding-mode dynamic control of the wheeled mobile robot. In Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 (pp. 1045-1050). [5346009] (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics). https://doi.org/10.1109/ICSMC.2009.5346009