NDLI: Adaptive fuzzy control for trajectory tracking of Mobile Robot

Content Provider	IEEE Xplore Digital Library
Author	Yuming Liang Lihong Xu Ruihua Wei Haigen Hu
Copyright Year	2010
Description	Author affiliation: Department of Control Science and Engineering, Tongji University, Shanghai, 200092, China (Lihong Xu; Haigen Hu) \|\| Department of Traffic and Transportation Engineering, Tongji University, Shanghai, 200092, China (Ruihua Wei) \|\| School of Mechanical and Electric Engineering, Jiangxi University of Science and Technology, Ganzhou City, 341000, China (Yuming Liang)
Abstract	Trajectory tracking of the mobile robot is one research hot for the robot. For the control system of the two-wheeled differential drive mobile robot being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. A new control scheme combined with the fuzzy PD (Proportional and Differential) control and the separate integral control is proposed in this paper. The control scheme can not only make full use of the advantage of the fuzzy control, but also have the good steady state tracking ability of the integral control. However, this control scheme introduces so many parameters which are difficult to optimize. In order to realize the online adaptive learning of the control parameters, the modified VFSA (Very Fast Simulated Annealing) is used. The simulation results show that the method is feasible, and can quickly approach the conference trajectory in a short time, and the trajectory tracking error is very small.
Starting Page	4755
Ending Page	4760
File Size	969135
Page Count	6
File Format	PDF
ISBN	9781424466740
ISSN	21530866
e-ISBN	9781424466764
DOI	10.1109/IROS.2010.5651060
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Mobile robots Mathematical model Trajectory Equations Fuzzy control Algorithm design and analysis
Content Type	Text
Resource Type	Article

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