Stochastic fuzzy servo control using multiple linear dynamic models

Author

Watanabe, Keigo ; Izumi, Kiyotaka ; Han, Fuha

Author_Institution

Dept. of Mech. Eng., Saga Univ., Japan

Volume

3

fYear

1998

fDate

21-23 Apr 1998

Firstpage

474

Abstract

A fuzzy servo system is described for a system with noises by using a stochastic fuzzy control method with some linear dynamic models. The fuzzy servo approach is applied to the control of rotational angle for an omnidirectional mobile robot with three orthogonal-wheel assemblies. The stochastic fuzzy servo method and its modified method with a static evaluation on the model confidence are implemented for some simulations of the mobile robot. In particular, two improvement methods are shown for the case when a set of the prespecified linear models does not include a model comparable to the reference rotational angle

Keywords

Kalman filters; fuzzy control; mobile robots; noise; optimal control; servomechanisms; stochastic systems; linear dynamic models; omnidirectional mobile robot; orthogonal-wheel assemblies; rotational angle; stochastic fuzzy servo control; Control systems; Fuzzy control; Fuzzy systems; Mobile robots; Noise measurement; Servomechanisms; Servosystems; Sliding mode control; Stochastic processes; Stochastic resonance;

fLanguage

English

Publisher

ieee

Conference_Titel

Knowledge-Based Intelligent Electronic Systems, 1998. Proceedings KES '98. 1998 Second International Conference on

Conference_Location

Adelaide, SA

Print_ISBN

0-7803-4316-6

Type

conf

DOI

10.1109/KES.1998.726011

Filename

726011