International Journal of Fuzzy Logic and Intelligent Systems

  • 제3권2호
  • /
  • Pages.166-172
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  • 2003
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  • 1598-2645(pISSN)
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  • 2093-744X(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
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Fuzzy Modeling and Control of Differential Driving Wheeled Mobile Robot: To Achieve Performance Objective

  • Kang, Jin-Shig (Faculty of Telecommunication and Computer Engineering, Cheju National University)
  • 발행 : 2003.12.01
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초록

The dynamics of the DDWMR depends on the velocity difference of the two driving wheels. And which is known as a type of non-holonomic equation. By this reason, the treatment of DDWMR had become difficult and conservative. In this paper, the differential-driving wheeled mobile robot is considered. The Takaki-Surgeno fuzzy model and a control method for DDWMR is presented. The suggested controller has three control elements. The first element is fuzzy state feedback designed for eliminating the dependence of time-varying parameter. The second element is weighting controller which is designed for good frequency response. The third controller is PI-controller which is designed for good command following and robustness with un-modeled dynamics. In order for achieving the performance objective, the design of controller is based on the loop-shaping algorithm.

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참고문헌

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