Title of article
Design of optimal Mamdani-type fuzzy controller for nonholonomic wheeled mobile robots
Author/Authors
Nazari Maryam Abadi, Davood Islamic Azad University, Garmsar Branch - Department of Electrical and Robotic Engineering, ايران , Khooban, Mohammad Hassan Iranian Space Agency - Iranian Space Research Center, Mechanic Institute, ايران , Khooban, Mohammad Hassan Islamic Azad University, Garmsar Branch - Department of Electrical and Robotic Engineering, ايران
From page
92
To page
100
Abstract
In this paper, in order to cope with both parametric and nonparametric uncertainties in the robot model, an optimal Mamdani-type fuzzy logic controller is introduced for trajectory tracking of wheeled mobile robots (WMRs). The dynamic model of a nonholonomic mobile robot was implemented in the Matlab/Simulink environment. The parameters of input and output membership functions, and PID controller coefficients are optimized simultaneously by random inertia weight Particle Swarm Optimization (RNW-PSO). Simulation results show the system performance is desirable.
Keywords
Nonholonomic wheeled mobile robot (WMR) , Fuzzy controller , Particle Swarm Optimization (PSO)
Journal title
Journal Of King Saud University - Engineering Sciences
Journal title
Journal Of King Saud University - Engineering Sciences
Record number
2609645
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