標題: T-S fuzzy path controller design for the omnidirectional mobile robot
作者: Shing, Chong-Cheng
Hsu, Pau-Lo
Yeh, Syh-Shiuh
電控工程研究所
Institute of Electrical and Control Engineering
公開日期: 2006
摘要: 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.
URI: http://hdl.handle.net/11536/17117
ISBN: 978-1-4244-0135-2
ISSN: 1553-572X
期刊: IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11
起始頁: 2321
結束頁: 2326
Appears in Collections:Conferences Paper