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
عنوان كنفرانس :
چهارمين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
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.
