Title :
Analogical gates as supervisory and direct controllers for a non-holonomic mobile robot
Author_Institution :
Swiss Federal Inst. of Technol., Zurich, Switzerland
Abstract :
Analogical gates are developed to implement four-quadrant fuzzy-generalisation of Boolean logical gates to provide an alternative to the traditional rule-based realisation of a fuzzy controller. Basic properties of the analogical gates are reviewed and some preliminary results on synthesis are discussed. Networks of analogical gates are applied in the control of position and orientation of a non-holonomic mobile robot in two schemes: a) supervisory control to tune the gains of a state-feedback controller and b) as a direct controller with a strong non-linear behaviour
Keywords :
Boolean functions; fuzzy control; fuzzy set theory; mobile robots; position control; state feedback; Boolean logical gates; analogical gates; direct controllers; four-quadrant fuzzy-generalisation; nonholonomic mobile robot; orientation control; state-feedback controller; strong nonlinear behaviour; supervisory controllers; Boolean functions; Control theory; Fuzzy control; Fuzzy logic; Fuzzy sets; Knowledge representation; Mobile robots; Network synthesis; Robot control; Supervisory control;
Conference_Titel :
Fuzzy Systems, 1996., Proceedings of the Fifth IEEE International Conference on
Conference_Location :
New Orleans, LA
Print_ISBN :
0-7803-3645-3
DOI :
10.1109/FUZZY.1996.552636
