Title :
Fuzzy model reference control of wheeled mobile robots
Author :
Lam, H.K. ; Lee, T.H. ; Leung, F.H.F. ; Tam, P.K.S.
Author_Institution :
Centre for Multimedia Signal Process., Hong Kong Polytech., Kowloon, China
Abstract :
Presents the control of a two-wheeled mobile robot (WMR) using a fuzzy model approach. A fuzzy controller is designed based on a TS fuzzy plant model of the WMR. This proposed controller is capable of driving the system states of the WMR to follow those of a stable reference fuzzy model with the stability of the closed-loop system guaranteed. Simulation results will be presented to illustrate the merits of the proposed fuzzy controller
Keywords :
closed loop systems; control system synthesis; feedback; fuzzy control; mobile robots; model reference adaptive control systems; robot kinematics; stability; TS fuzzy plant model; Takagi-Sugeno plant model; closed-loop system; fuzzy model reference control; stability; two-wheeled mobile robot; wheeled mobile robots; Control systems; Fuzzy control; Fuzzy systems; Kinematics; Mobile robots; Nonlinear control systems; Nonlinear systems; Power system modeling; Signal processing; Sliding mode control;
Conference_Titel :
Industrial Electronics Society, 2001. IECON '01. The 27th Annual Conference of the IEEE
Conference_Location :
Denver, CO
Print_ISBN :
0-7803-7108-9
DOI :
10.1109/IECON.2001.976547
