TY - GEN
T1 - A type-2 fuzzy cascade control architecture for mobile robots
AU - Kumbasar, Tufan
AU - Hagras, Hani
PY - 2013
Y1 - 2013
N2 - The real-time path tracking control of mobile robots attracted considerable research interest since they inherit nonholonomic properties and uncertainties caused by the internal dynamics and/or feedback sensors. In this paper, we will propose a cascade control architecture, which includes the inner and outer control loops, for the path tracking control of mobile robots. In the proposed mobile robot cascade structure, interval type-2 fuzzy PID controllers are implemented as the outer and inner loop controllers to achieve a satisfactory tracking performance in presence of uncertainties. In this context, we will present a simple two stage mobile robot cascade design strategy. We will present real-time control experiments performed on the PIONEER 3-DX mobile robot to show the efficiency and the superior tracking performance of the type-2 fuzzy cascade control architecture in comparison with its conventional PID and type-1 fuzzy controllers counterparts in presence of uncertainties.
AB - The real-time path tracking control of mobile robots attracted considerable research interest since they inherit nonholonomic properties and uncertainties caused by the internal dynamics and/or feedback sensors. In this paper, we will propose a cascade control architecture, which includes the inner and outer control loops, for the path tracking control of mobile robots. In the proposed mobile robot cascade structure, interval type-2 fuzzy PID controllers are implemented as the outer and inner loop controllers to achieve a satisfactory tracking performance in presence of uncertainties. In this context, we will present a simple two stage mobile robot cascade design strategy. We will present real-time control experiments performed on the PIONEER 3-DX mobile robot to show the efficiency and the superior tracking performance of the type-2 fuzzy cascade control architecture in comparison with its conventional PID and type-1 fuzzy controllers counterparts in presence of uncertainties.
KW - Mobile robots
KW - Path tracking
KW - Type-2 fuzzy logic systems
UR - http://www.scopus.com/inward/record.url?scp=84893580337&partnerID=8YFLogxK
U2 - 10.1109/SMC.2013.550
DO - 10.1109/SMC.2013.550
M3 - Conference contribution
AN - SCOPUS:84893580337
SN - 9780769551548
T3 - Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
SP - 3226
EP - 3231
BT - Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
T2 - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Y2 - 13 October 2013 through 16 October 2013
ER -