Proceedings of the Korean Institute of Intelligent Systems Conference (한국지능시스템학회:학술대회논문집)

Korean Institute of Intelligent Systems (한국지능시스템학회)
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Fuzzy Modeling and Control of Wheeled Mobile Robot

  • Kang, Jin-Shik (Dept. Telecommunication and Computer Eng. Cheju Nat′l Univ.)
  • Published : 2003.09.01
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Abstract

In this paper, the control of the differential drive wheeled mobile robot (DDWMR) is studied. Because the DDWMR have non-holonomic constraints, it cannot be stabilized by smooth feedback. The T-S fuzzy model for the DDWMR is presented and a control algorithm Is developed by well known PID control and LMI based regional pole-placement.

Keywords