Trajectory Control of Mobile Robot Using Fuzzy Systems and MLP Networks

Abstract This paper is interesting to a nonholonomic wheeled mobile robot. We have presented a scheme to develop controllers. Two controllers have been developed. The first concerns the kinematic behavior while the second relates to the dynamic behavior of the mobile robot. For the Kinematic controller, we have used a Takagi-Sugeno fuzzy system to overcome the nonlinearities present in model whereas for the second controller we have used the sliding mode approach. The sliding surface has the identical structure as the proportional integral controller. The stability of system has been proved based on Lyapunov approach. The simulation results show the efficiency of the proposed control laws.

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Trajectory Control and Time-Varying Stabilization of Nonholonomic Wheeled Mobile Robot

Mechatronics '98 ◽

10.1016/b978-008043339-4/50068-7 ◽

1998 ◽

pp. 421-426

Author(s):

A.C. Victorino ◽

P.R.G. Kurka ◽

E.G.O. Nobrega

Keyword(s):

Mobile Robot ◽

Trajectory Control ◽

Wheeled Mobile Robot ◽

Time Varying

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2P1-L01 Trajectory control of crawler type mobile robot with consideration of a slip

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2007._2p1-l01_1 ◽

2007 ◽

Vol 2007 (0) ◽

pp. _2P1-L01_1-_2P1-L01_4

Author(s):

Kazuya YOSHIDA ◽

Keiji NAGATANI ◽

Yoshito OKADA ◽

Daisuke ENDO

Keyword(s):

Mobile Robot ◽

Trajectory Control

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2A1-F19 Trajectory Control of a Mobile Robot by Using Virtual Arms

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) ◽

10.1299/jsmermd.2009._2a1-f19_1 ◽

2009 ◽

Vol 2009 (0) ◽

pp. _2A1-F19_1-_2A1-F19_4

Author(s):

Kimitoshi YAMAZAKI ◽

Masayuki INABA

Keyword(s):

Mobile Robot ◽

Trajectory Control

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Verification hybrid control of a wheeled mobile robot and manipulator

Open Engineering ◽

10.1515/eng-2016-0007 ◽

2016 ◽

Vol 6 (1) ◽

Author(s):

Magdalena Muszynska ◽

Andrzej Burghardt ◽

Krzysztof Kurc ◽

Dariusz Szybicki

Keyword(s):

Mobile Robot ◽

Tracking Control ◽

Fuzzy Systems ◽

Hybrid Control ◽

Work Conditions ◽

Control Algorithms ◽

Control Task ◽

Wheeled Mobile Robots ◽

Controlled Systems ◽

On Line

Abstract In this article, innovative approaches to realization of the wheeled mobile robots and manipulator tracking are presented. Conceptions include application of the neural-fuzzy systems to compensation of the controlled system’s nonlinearities in the tracking control task. Proposed control algorithms work on-line, contain structure, that adapt to the changeable work conditions of the controlled systems, and do not require the preliminary learning. The algorithm was verification on the real object which was a Scorbot - ER 4pc robotic manipulator and a Pioneer - 2DX mobile robot.

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