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Performance Improvement for Back-stepping Controller of a Mobile Robot Based on Fuzzy Systems  

박재훼 (부산대학교 메카트로닉스과정)
진태석 (부산대학교 메카트로닉스과정)
이만형 (부산대학교 기계공학부)
Publication Information
Journal of the Institute of Electronics Engineers of Korea SC / v.40, no.5, 2003 , pp. 308-316 More about this Journal
Abstract
This paper describes a tracking control for the mobile robot based on fuzzy systems. The conventional back-stepping controller includes the dynamics and kinematics of the mobile robot, which is affected by the derived velocity reference by a kinematic controller. To improve the performance of conventional back-stepping controller, this paper uses the fuzzy systems known as the nonlinear controller. In this paper, the new velocity reference for the back-stepping controller is derived through the fuzzy inference. Fuzzy rules are selected for gains of the kinematic controller. The produced velocity reference has properly considered the varying reference trajectories. And simulation results show that the proposed controller is more robust than the conventional back-stepping controller.
Keywords
Nonholonomic Constraints; Mobile Robot; Dynamics; Kinematics; Fuzzy Systems; Back-stepping Controller;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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