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 | |
| Publication status | Published - 2009 |
| Event | 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 - San Antonio, TX, United States Duration: 2009 Oct 11 → 2009 Oct 14 |
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 |
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All Science Journal Classification (ASJC) codes
- Electrical and Electronic Engineering
- Control and Systems Engineering
- Human-Computer Interaction
Cite this
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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.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
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
UR - http://www.scopus.com/inward/citedby.url?scp=74849097761&partnerID=8YFLogxK
U2 - 10.1109/ICSMC.2009.5346009
DO - 10.1109/ICSMC.2009.5346009
M3 - Conference contribution
SN - 9781424427949
SP - 1045
EP - 1050
BT - Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
ER -