Title :
Analogical gates: a fuzzy operator approach for locomotion control of a non-holonomic mobile robot
Author_Institution :
Autom. Control Lab., Swiss Federal Inst. of Technol., Zurich, Switzerland
Abstract :
Analogical gates are developed to implement four-quadrant fuzzy-generalisation of Boolean logical gates. Networks built using analogical gates are shown to be useful in real-time control of mobile robots. In this paper, a supervisory control scheme where the gains of a conventional controller are tuned by means of analogical gates is presented through two applications: 1) state-feedback controller of a non-holonomic mobile robot; and 2) command-fusion for a PID-controller with anti-reset wind-up
Keywords :
Boolean functions; fuzzy control; generalisation (artificial intelligence); mobile robots; motion control; state feedback; three-term control; Boolean logical gates; PID-controller; analogical gates; anti-reset wind-up; command-fusion; four-quadrant fuzzy-generalisation; fuzzy control; locomotion control; non-holonomic mobile robot; position control; state-feedback controller; supervisory control; Automatic control; Boundary conditions; Equations; Fuzzy control; Fuzzy sets; Mobile robots; Position control; Robot control; Supervisory control; Table lookup;
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.1995.409786
