TY - GEN
T1 - The design of internal type-2 fuzzy kinematic control and interval type-2 fuzzy terminal sliding-mode dynamic control of the wheeled mobile robot
AU - Hsiao, Ming Ying
AU - Tsai, Shun Hung
AU - Li, Tzuu Hseng S.
AU - Shih, Kai Shiuan
AU - Chao, Chan Hong
AU - Liu, Chi Hua
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=74849097761&partnerID=8YFLogxK
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U2 - 10.1109/ICSMC.2009.5346009
DO - 10.1109/ICSMC.2009.5346009
M3 - Conference contribution
AN - SCOPUS:74849097761
SN - 9781424427949
T3 - Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics
SP - 1045
EP - 1050
BT - Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
T2 - 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Y2 - 11 October 2009 through 14 October 2009
ER -