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

doi:10.1109/ICSMC.2009.5346009

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

Department of Electrical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Pages	1045-1050
Number of pages	6
DOIs	https://doi.org/10.1109/ICSMC.2009.5346009
Publication status	Published - 2009 Dec 1
Event	2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 - San Antonio, TX, United States Duration: 2009 Oct 11 → 2009 Oct 14

Publication series

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

Other

Other	2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
Country	United States
City	San Antonio, TX
Period	09-10-11 → 09-10-14

All Science Journal Classification (ASJC) codes

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

Access to Document

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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

Hsiao, Ming Ying ; Tsai, Shun Hung ; Li, Tzuu Hseng S. ; Shih, Kai Shiuan ; Chao, Chan Hong ; Liu, Chi Hua. / The design of internal type-2 fuzzy kinematic control and interval type-2 fuzzy terminal sliding-mode dynamic control of the wheeled mobile robot. Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009. 2009. pp. 1045-1050 (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics).

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

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.",

author = "Hsiao, {Ming Ying} and Tsai, {Shun Hung} and Li, {Tzuu Hseng S.} and Shih, {Kai Shiuan} and Chao, {Chan Hong} and Liu, {Chi Hua}",

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Hsiao, MY, Tsai, SH, Li, THS, Shih, KS, Chao, CH & Liu, CH 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., 5346009, Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics, pp. 1045-1050, 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009, San Antonio, TX, United States, 09-10-11. https://doi.org/10.1109/ICSMC.2009.5346009

The design of internal type-2 fuzzy kinematic control and interval type-2 fuzzy terminal sliding-mode dynamic control of the wheeled mobile robot. / Hsiao, Ming Ying; Tsai, Shun Hung; Li, Tzuu Hseng S.; Shih, Kai Shiuan; Chao, Chan Hong; Liu, Chi Hua.

Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009. 2009. p. 1045-1050 5346009 (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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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.

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Hsiao MY, Tsai SH, Li THS, Shih KS, Chao CH, Liu CH. 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. 2009. p. 1045-1050. 5346009. (Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics). https://doi.org/10.1109/ICSMC.2009.5346009