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Design of a Fuzzy Re-adhesion Controller for Wheeled Robot  

Kwon Sun-Ku (인하대학교 전기공학과)
Huh Uk-Youl (인하대학교 전자전기공학부)
Kim Jin-Hwan (인하공업전문대학 전기정보과학과)
Publication Information
The Transactions of the Korean Institute of Electrical Engineers D / v.54, no.1, 2005 , pp. 48-55 More about this Journal
Abstract
Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and floor decreases suddenly, the robot begins slip. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weight. Secondly, proposed fuzzy logic is applied to the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takagi-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm adjusts the driving torque for restraining re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena for the controller performance in the re-adhesion control strategy, These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.
Keywords
Wheeled Robot; Re-adhesion Control; Disturbance Observer; Takagi-Sugeno Model; Fuzzy Logic Controller;
Citations & Related Records
Times Cited By KSCI : 6  (Citation Analysis)
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