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http://dx.doi.org/10.5762/KAIS.2012.13.12.6034

Design of adaptive fuzzy controller to overcome a slope of a mobile robot for driving  

Park, Jong-Ho (Department of Electrical & Electronic Engineering, Seonam University)
Baek, Seung-Jun (Division of electronic engineering, Chonbuk University)
Chong, Kil-To (Division of electronic engineering, Chonbuk University)
Publication Information
Journal of the Korea Academia-Industrial cooperation Society / v.13, no.12, 2012 , pp. 6034-6039 More about this Journal
Abstract
In this paper, this may appear to exacerbate it met slopes of the mobile robot moves to overcome this by driving can occur if the mobile robot system has its own sleep problems driving progress in until you hit the target and solvedriving straight driving safer model for adaptive fuzzy control method of mobile robot based control algorithm is proposed. First, we propose a model based adaptive fuzzy controller, if possible, the dynamics model of the mobile robot, including model-based controller is designed to determine if you can check the condition of the mobile robot climbing and driving the mobile robot to overcome the slope and the to overcome driving control. Enough considering the ground friction forces and ensure the stability of the mobile robot system and the disturbance compensation, etc. In this case, the controller design will be possible. In addition, the nonlinear model, the dynamic characteristics of the mobile robot control method of adaptive fuzzy control techniques in the design that you want to fully reflect Non-holonomic system of mobile robots and solve sleep problems, and will be useful enough, it was verified through computer simulations.
Keywords
Adaptive fuzzy control; Mobile robot; Disturbance compensation; Nonlinear Non-holonomic mobile robot system; Sleep problems;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
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