شماره ركورد كنفرانس
3208
عنوان مقاله
Takagi-Sugeno Fuzzy Formation Control of Nonholonomic Robots
پديدآورندگان
Aghaie karim, Narges Electrical Engineering Department - Islamic Azad University Qazvin Branch , Alinaghizadeh Ardestani, Mahdi Electrical and Computer Engineering Department - Qom University of Technology
كليدواژه
nonholonomic mobile robots , formation control , takagi-sugeno fuzzy algorithm , tracking control
سال انتشار
1394
عنوان كنفرانس
چهارمين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
زبان مدرك
لاتين
چكيده لاتين
In this paper, a new controller is proposed to solve
a formation control problem in the leader-follower
framework. The proposed controller is based on Takagi-
Sugeno Fuzzy algorithm. The control laws have 25 rules for
velocity and angular velocity control loops of nonholonomic
robot. As a result, the formation is achieved with much
more enhanced robust formation performance. Simulation
results illustrate the improved performance of the proposed
controller compared to PID adaptive controller.
كشور
ايران
تعداد صفحه 2
6
از صفحه
1
تا صفحه
6
لينک به اين مدرک