Switching fuzzy tracking control for mobile robots under curvature constraints
In this paper a switching fuzzy logic controller for mobile robots with a bounded curvature constraint is presented. The controller tracks piece-wise linear paths, which are an approximation of the feasible smooth reference path. The controller is constructed through the use of a map, which transfor...
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Veröffentlicht in: | Control engineering practice 2011, Vol.19 (1), p.45-53 |
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Format: | Artikel |
Sprache: | eng |
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Zusammenfassung: | In this paper a switching fuzzy logic controller for mobile robots with a bounded curvature constraint is presented. The controller tracks piece-wise linear paths, which are an approximation of the feasible smooth reference path. The controller is constructed through the use of a map, which transforms the problem to a simpler one; namely the tracking of straight lines. This allows the use of an existing fuzzy tracker deployed in a previous work, and its simplification leading to a 70% rule reduction. Simulation results and a comparison analysis with existing trackers are also presented along with some stability considerations on the impulsive error dynamics which emerge.
► Piece-wise linear paths are easier to handle in control implementations. ► They are not feasible in robots with curvature constraints. ► They insert switching and impulses in the control. ► Strip-wise Affine Map simplifies control and Fuzzy Logic tracker complexity. ► Fuzzy tracker outperforms original using significantly less rules. |
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ISSN: | 0967-0661 1873-6939 |
DOI: | 10.1016/j.conengprac.2010.08.008 |