DocumentCode
3296386
Title
An interval type-2 fuzzy LQR positioning controller for wheeled mobile robot
Author
Farooq, Umar ; Gu, Jhen-Fong ; Luo, JianChao
Author_Institution
Dept. of Electr. & Comput. Eng., Dalhousie Univ., Halifax, NS, Canada
fYear
2013
fDate
12-14 Dec. 2013
Firstpage
2403
Lastpage
2407
Abstract
An interval type-2 fuzzy logic controller using the switching type-1 fuzzy Takagi-Sugeno model is presented for the position control of wheeled mobile robot. The control gains for the switched regions are determined using linear quadratic regulator approach. The blending of the local controllers based on the interval type-2 design scheme yields the final motion commands for the wheeled mobile robot. MATLAB simulations have proved the effectiveness of the proposed controller.
Keywords
control system synthesis; fuzzy control; linear quadratic control; mobile robots; position control; MATLAB simulations; interval type-2 fuzzy LQR positioning controller; linear quadratic regulator approach; switching type-1 fuzzy Takagi-Sugeno model; wheeled mobile robot; Fuzzy logic; Mathematical model; Mobile robots; Nonlinear systems; Position control; Switches;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location
Shenzhen
Type
conf
DOI
10.1109/ROBIO.2013.6739830
Filename
6739830
Link To Document