Research on the Walking Control Strategy of Roboticized Roadheader Based on the Fuzzy Control

2013 ◽  
Vol 373-375 ◽  
pp. 275-281
Author(s):  
Jian Gong ◽  
Wei Liu ◽  
Fu Zhong Wang
Keyword(s):  
Fuzzy Control ◽  
Control Strategy ◽  
Motion Model ◽  
Steering Angle ◽  
Walking Control ◽  
Construction Procedure ◽  
Working Face ◽  
Driving Wheel ◽  
Fuzzy Control Strategy ◽  
The Relationship

This paper considers the problem of trajectory deviating for a class of roboticized roadheader. The motion model of roadheader is first established based on the analysis of excavation construction procedure, then the fuzzy control strategy based on dual-modality structure is proposed to realize directional adjustment and forward-walking control. The relationship between steering angle and driving wheel speed and the establishment of fuzzy control model are mainly focused. The experiment results indicate that the control strategy can satisfy the requirements of excavation construction procedure, and the remote control of roadheader can also be conducted. It is shown that the proposed approach can take an important role in few or unattended roadheader working face construction.

scholarly journals Fuzzy Control Strategy Applied to Adjustment of Front Steering Angle of a 4WSD Agricultural Mobile Robot

Lámpsakos ◽  
2012 ◽  
pp. 31
Author(s):  
Henry Borrero-Guerrero ◽  
Rafael Bueno-Sampaio ◽  
Marcelo Becker
Keyword(s):  
Fuzzy Control ◽  
Control Strategy ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Steering System ◽  
Steering Angle ◽  
Lateral Dynamics ◽  
Controller Performance ◽  
Fuzzy Control Strategy ◽  
Real Scale

This paper presents the preliminary studies of the control strategy based in fuzzy logic, projected for the steering system of AGRIBOT project that consist of a wheeled autonomous mobile robotic in real scale endowed with four independent steering and driven wheels (4WSD). In this work we present a preliminary fuzzy controller design applied to front steering angle, using a multivariable plant which incorporates simplified linear model of lateral dynamics of a vehicle whose input are linear combination of rear and front steering angles. The fuzzy control strategy was decided because provides flexible way to deploy with embedded systems. Simulations are used to illustrate the designed controller performance. We use Ackerman geometry to trace front steering angle that allows the vehicle to perform correctly a given maneuver preserving a minimum level of stability and maneuverability. The goal is to establish a relationship between steering input commands and the control commands to the actuators so that it is possible to adjust the attitude of the actuators over the movement axis, as the trajectory change.

scholarly journals Decentralised coordinated energy management for hybrid AC/DC microgrid by using fuzzy control strategy

2020 ◽  
Vol 14 (14) ◽  
pp. 2649-2656
Author(s):  
Zeyan Lv ◽  
Yong Zhang ◽  
Miao Yu ◽  
Yanghong Xia ◽  
Wei Wei
Keyword(s):  
Fuzzy Control ◽  
Energy Management ◽  
Control Strategy ◽  
Dc Microgrid ◽  
Fuzzy Control Strategy

scholarly journals Research on Genetic-fuzzy Control Strategy for Parallel Hybrid Electric Vehicle

2010 ◽  
Vol 4 (1) ◽  
pp. 224-231 ◽  
Author(s):  
Shichun Yang ◽  
Ming Li ◽  
Haoyu Weng ◽  
Bao Liu ◽  
Qiang Li ◽  
...  
Keyword(s):  
Fuzzy Control ◽  
Electric Vehicle ◽  
Control Strategy ◽  
Hybrid Electric Vehicle ◽  
Parallel Hybrid Electric Vehicle ◽  
Parallel Hybrid ◽  
Hybrid Electric ◽  
Fuzzy Control Strategy
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