Browsing by Author "Shing, Chong-Cheng"

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T-S fuzzy path controller design for the omnidirectional mobile robot
(2006)
Shing, Chong-Cheng
;
Hsu, Pau-Lo
;
Yeh, Syh-Shiuh
;
電控工程研究所
;
Institute of Electrical and Control Engineering
This paper focuses on the design of T-S fuzzy path controller for improving the high-speed tracking accuracy of a four-wheel omnidirectional mobile robot (ODMR). Usually, when an ODMR moves in high speed, the adverse effects induced by Coriolis force significantly deteriorate the tracking performances. In this paper, a T-S fuzzy control designed with both the state feedback and path tracking error is proposed to meet the design specifications. Moreover, a new approach of kinematics inversion considering the nonlinear term of coordinate transform is proposed to simplify the analysis of ODMR motion. Finally, an example is provided to compare the present T-S fuzzy path controller with the well-tuned PID controller. The simulation results indicate that the proposed approach provides much better tracking performances as the speed of ODMR increases.