International Journal of Fuzzy Logic and Intelligent Systems

  • 제10권1호
  • /
  • Pages.12-18
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  • 2010
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  • 1598-2645(pISSN)
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  • 2093-744X(eISSN)
한국지능시스템학회 (Korean Institute of Intelligent Systems)
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A Study on an Adaptive Robust Fuzzy Controller with GAs for Path Tracking of a Wheeled Mobile Robot

  • Nguyen, Hoang-Giap (Department of Intelligent System Engineering, Dong-Eui University) ;
  • Kim, Won-Ho (Department of Mechatronics Engineering, Dong-Eui University) ;
  • Shin, Jin-Ho (Department of Mechatronics Engineering, Dong-Eui University)
  • 투고 : 2009.10.30
  • 심사 : 2010.01.10
  • 발행 : 2010.03.25
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초록

This paper proposes an adaptive robust fuzzy control scheme for path tracking of a wheeled mobile robot with uncertainties. The robot dynamics including the actuator dynamics is considered in this work. The presented controller is composed of a fuzzy basis function network (FBFN) to approximate an unknown nonlinear function of the robot complete dynamics, an adaptive robust input to overcome the uncertainties, and a stabilizing control input. Genetic algorithms are employed to optimize the fuzzy rules of FBFN. The stability and the convergence of the tracking errors are guaranteed using the Lyapunov stability theory. When the controller is designed, the different parameters for two actuator models in the dynamic equation are taken into account. The proposed control scheme does not require the accurate parameter values for the actuator parameters as well as the robot parameters. The validity and robustness of the proposed control scheme are demonstrated through computer simulations.

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참고문헌

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피인용 문헌

  1. Fuzzy Logic Based Navigation for Multiple Mobile Robots in Indoor Environments vol.15, pp.4, 2015, https://doi.org/10.5391/IJFIS.2015.15.4.305