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http://dx.doi.org/10.5391/IJFIS.2010.10.1.012

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)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.10, no.1, 2010 , pp. 12-18 More about this Journal
Abstract
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.
Keywords
Fuzzy basis function network; adaptive robust control; genetic algorithms; robot dynamics; actuator dynamics; uncertainty;
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