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

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications
發行者IEEE Computer Society
頁面1-6
頁數6
ISBN(列印)9781479903863
DOIs
出版狀態Published - 2013 一月 1
事件iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications - Taipei, Taiwan
持續時間: 2013 十二月 62013 十二月 8

出版系列

名字iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications

Other

OtheriFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications
國家Taiwan
城市Taipei
期間13-12-0613-12-08

All Science Journal Classification (ASJC) codes

  • Applied Mathematics

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  • 引用此

    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. 於 iFUZZY 2013 - 2013 International Conference on Fuzzy Theory and Its Applications (頁 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