Fuzzy control of a mobile robot: a new approach

Author

Bentalba, S. ; Hajjaji, A. El ; Rachid, A.

Author_Institution

Lab. des Syst. Autom., Univ. de Picardie-Jules Verne, Amiens, France

fYear

1997

fDate

5-7 Oct 1997

Firstpage

69

Lastpage

72

Abstract

This paper presents a new approach to design a fuzzy controller for backing up a mobile robot. After making the dynamics of the mobile robot interpolated by two linear systems, a general analysis and design method are proposed to stabilize it with two fuzzy rules. The method is based on converting the stability analysis of a fuzzy control system to the stability analysis of an overvaluing system for the mobile robot. A sufficient condition based on the use of the comparison system is deduced to guarantee the stability of the mobile robot. To highlight the performance of the new proposed technique, simulation results are presented

Keywords

closed loop systems; control system synthesis; fuzzy control; linear systems; mobile robots; robot dynamics; robot kinematics; robust control; closed loop systems; dynamics; fuzzy control; kinematics; linear systems; mobile robot; overvaluing system; robust control; stability analysis; sufficient condition; Automatic control; Control systems; Design methodology; Fuzzy control; Fuzzy systems; Mobile robots; Robot control; Robot kinematics; Stability analysis; Sufficient conditions;

fLanguage

English

Publisher

ieee

Conference_Titel

Control Applications, 1997., Proceedings of the 1997 IEEE International Conference on

Conference_Location

Hartford, CT

Print_ISBN

0-7803-3876-6

Type

conf

DOI

10.1109/CCA.1997.627474

Filename

627474