Controlador fuzzy em cascata no ângulo de giro por propagação de referência de robôs móveis multi-articulados: Caso real

Author

de Paula Ferreira, Edson ; Pandolfi, Filipe ; Reinan, Tiago

Author_Institution

Dept. de Eng. Eletr., Univ. Fed. do Espirito Santo - UFES, Vitória, Brazil

fYear

2010

fDate

8-10 Nov. 2010

Firstpage

1

Lastpage

6

Abstract

This article discusses the maneuver´s control of multi-articulated vehicles or mobile robots, specifically for backward movements, that are non-linear and have hard analytical characterization. A Control on Rotation by Refence Propagation (CGPR) controller is proposed based on angle of rotation and fuzzy theory. This solution is compared with Global controller one, proposed in the literature. That performance analysis made with a real aplication in a three degrees of freedom prototype, Truck-Trailer-Trailer.

Keywords

cascade control; fuzzy control; mobile robots; backward movements; control on rotation by refence propagation controller; fuzzy cascade control; mobile multi-articulated robots; mobile robots; multi-articulated vehicles; reference propagation; rotation angle; Electronic mail; Industry applications; Mobile robots; Performance analysis; Process control; Prototypes; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Industry Applications (INDUSCON), 2010 9th IEEE/IAS International Conference on

Conference_Location

Sao Paulo

Print_ISBN

978-1-4244-8008-1

Electronic_ISBN

978-1-4244-8009-8

Type

conf

DOI

10.1109/INDUSCON.2010.5739883

Filename

5739883