Model-based fuzzy control of a trailer type mobile robot

Author

Tanaka, Kazuo

Author_Institution

Dept. of Mech. Syst. Eng., Kanazawa Univ., Japan

Volume

1

fYear

1995

fDate

20-24 Mar 1995

Firstpage

65

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/FUZZY.1995.409661

Filename

409661