A type-2 fuzzy cascade control architecture for mobile robots

Tufan Kumbasar, Hani Hagras

Araştırma sonucu: ???type-name???Konferans katkısıbilirkişi

8 Atıf (Scopus)

Özet

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.

Orijinal dilİngilizce
Ana bilgisayar yayını başlığıProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Sayfalar3226-3231
Sayfa sayısı6
DOI'lar
Yayın durumuYayınlandı - 2013
Etkinlik2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013 - Manchester, United Kingdom
Süre: 13 Eki 201316 Eki 2013

Yayın serisi

AdıProceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013

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???event.eventtypes.event.conference???2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Ülke/BölgeUnited Kingdom
ŞehirManchester
Periyot13/10/1316/10/13

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