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

研究成果: Conference contribution

2 引文 斯高帕斯(Scopus)

摘要

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.

原文English
主出版物標題Proceedings 2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
頁面1045-1050
頁數6
DOIs
出版狀態Published - 2009
事件2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009 - San Antonio, TX, United States
持續時間: 2009 10月 112009 10月 14

出版系列

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

Other

Other2009 IEEE International Conference on Systems, Man and Cybernetics, SMC 2009
國家/地區United States
城市San Antonio, TX
期間09-10-1109-10-14

All Science Journal Classification (ASJC) codes

  • 電氣與電子工程
  • 控制與系統工程
  • 人機介面

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