Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
권호 표지

The Azimuth and Velocity Control of a Movile Robot with Two Drive Wheel by Neutral-Fuzzy Control Method

뉴럴-퍼지제어기법에 의한 두 구동휠을 갖는 이동 로봇의 자세 및 속도 제어

  • 한성현 (경남대학교 공과대학 기계설계학과)
  • Published : 1997.02.01
Download PDF
⟨ Previous Next ⟩

Abstract

This paper presents a new approach to the design speed and azimuth control of a mobile robot with drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the frmework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simple the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

Keywords

References

  1. Automatica v.28 no.2 Synthesis of an Optimal Control Law for Path Tracking in Moblie Robots Hemami, A.;Mehrabi, M. G.;cheng, R. M. H.
  2. World Congress on Neural Networks v.3 Fuzzy Control Using Neural Network Techniques Iwata, T.;Machida, K.;Toda, Y.
  3. Proc. IEEE. v.121 no.12 Application of fuzzy algorithms for control of simple dynamic plant Mamdani, E. H.
  4. Parallel Distributed Processing : Explorations in the Microstructure of Cognition v.1 Rumelhart, D. E.;Mcclelland, J. L.
  5. Trans. SICE v.27 no.2 A Learning Fuzzy Controller Using a Neural Network Horikawa, S.;Furuhashi, T.;Okuma, S.;Uchikawa, Y.
  6. IIZUKA'90 A Fuzzy Controller Using a Neural Network and Its Capability to Learn Expert's Control Rules Horikawa, S.(et al.)
  7. IEEE Control Systems Magazine A Multilayered Neural Network Controller Psalitis, D.;Sideris, A.;Yamamura, A.
  8. Fuzzy Control Sugeno, M.
  9. Computrol v.28 Simple Fuzzy Theories Mizumoto, M.
  10. J. of the Society of Instrument and Control Engineers v.28 no.11 Fuzzy Reasoning Methods for Fuzzy Control Mizumoto, M.
  11. Proc. IEEE v.121 no.12 Application of fuzzy algorithms for control of simple dynamic plant Mamdani, E. H.
  12. Parallel Distributed Processing : Explorations in the Microstructures of Cognition Rumelhart, D. E.;J. L. McClelland;PDP research group(Eds.)
  13. J. Intelligent and Robotic Systems v.3 no.4 Learning Algorithms for Neural Networks with the Kalman Filters Watanabe, K.;Tzafestas, S. G.
  14. Introduction to Robotics Craig, J. J.