Takagi-Sugeno Fuzzy formation control of nonholonomic robots
| Autor: | Narges Aghaie Karim, Mahdi Alinaghizadeh Ardestani |
|---|---|
| Rok vydání: | 2016 |
| Předmět: |
0209 industrial biotechnology
Control (management) PID controller Angular velocity Control engineering 02 engineering and technology Fuzzy logic Improved performance 020901 industrial engineering & automation Takagi sugeno Control theory 0202 electrical engineering electronic engineering information engineering 020201 artificial intelligence & image processing Nonholonomic robot Mathematics |
| Zdroj: | 2016 4th International Conference on Control, Instrumentation, and Automation (ICCIA). |
| Popis: | In this paper, a new controller is proposed to solve a formation control problem in the leader-follower framework. The proposed controller is based on Takagi-Sugeno Fuzzy algorithm. The control laws have 25 rules for velocity and angular velocity control loops of nonholonomic robot. As a result, the formation is achieved with much more enhanced robust formation performance. Simulation results illustrate the improved performance of the proposed controller compared to PID adaptive controller. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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