Title :
Model-based fuzzy control of a trailer type mobile robot
Author_Institution :
Dept. of Mech. Syst. Eng., Kanazawa Univ., Japan
Abstract :
Tanaka and Sano (1993,1994) designed a control system for backing up a computer simulated trailer type mobile robot, which is non-linear and unstable, by applying a robust stabilization technique for fuzzy systems. Furthermore, it was shown that the designed fuzzy controller smoothly achieves backing up control of the computer simulated trailer type mobile robot from all initial positions. In this paper, the author controls a real trailer type mobile robot by applying the design method proposed in the above papers. The experimental results show that the designed fuzzy controller effectively realizes backing up control of the real trailer type mobile robot
Keywords :
control system synthesis; fuzzy control; fuzzy systems; mobile robots; position control; stability; backing up control; fuzzy systems; model-based fuzzy control; robust stabilization technique; trailer type mobile robot; Computational modeling; Computer simulation; Control system synthesis; Control systems; Design methodology; Fuzzy control; Fuzzy systems; Mobile robots; Robust control; Stability analysis;
Conference_Titel :
Fuzzy Systems, 1995. International Joint Conference of the Fourth IEEE International Conference on Fuzzy Systems and The Second International Fuzzy Engineering Symposium., Proceedings of 1995 IEEE Int
Conference_Location :
Yokohama
Print_ISBN :
0-7803-2461-7
DOI :
10.1109/FUZZY.1995.409661
