A self-paced fuzzy tracking controller for two-dimensional motion control

A heuristic controller is presented that takes the form of a set of fuzzy linguistic rules. Simulations show that the fuzzy logic controller (FLC) yields better results than the conventional PD controller. A self-paced fuzzy tracking controller (SPFTC) designed for two-dimensional path tracking is also presented. The SPFTC adjusts the tracking speed in accordance with contour conditions such as curvature; the fuzzy-rule-based adjustment of the tracking speed improves performance in terms of tracking precision and travel time. Advantages of the FLC and SPFTC are demonstrated by a simulation study