Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Self-Organizing Fuzzy Control Approach to the Driving Control of a Mobile Robot

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  • 배강열 (진주산업대학교 메카트로닉스공학과)
  • Published : 2006.12.01
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Abstract

A robust motion controller based on self-organizing fuzzy control(SOFC) and feed-back tracking control technique is proposed for a two-wheel driven mobile robot. The feed-back control technique of the controller guarantees the robot follows a desired trajectory. The SOFC technique of the controller deals with unmodelled dynamics of the vehicle and uncertainties. The computer simulations are carried out to verify the tracking ability of the proposed controller with various driving situations. The results of the simulations reveal the effectiveness and stability of the proposed controller to compensate the unmodelled dynamics and uncertainties.

Keywords

References

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