FL Deadzone Compensation of a Mobile robot

Autor:	Jun Oh Jang
Rok vydání:	2013
Předmět:	Lyapunov stability Structure (mathematical logic) Tracking error Control theory Bounded function Mobile robot Dead zone Fuzzy logic Mathematics Compensation (engineering)
Zdroj:	Journal of the Institute of Electronics Engineers of Korea. 50:191-202
ISSN:	2287-5026
DOI:	10.5573/ieek.2013.50.4.191
Popis:	A control structure that makes possible the integration of a kinematic controller and a fuzzy logic (FL) deadzone compensator for mobile robots is presented. A tuning algorithm is given for the fuzzy logic parameters, so that the deadzone compensation scheme becomes adaptive, guaranteeing small tracking errors and bounded parameter estimates. Formal nonlinear stability proofs are given to show that the tracking error is small. The fuzzy logic deadzone compensator is implemented on a mobile robot to show its efficacy.
Databáze:	OpenAIRE
Externí odkaz:	https://explore.openaire.eu/search/publication?articleId=doi_________::6ac6957ac279131754b26c3e3c469049 https://doi.org/10.5573/ieek.2013.50.4.191 Zobrazit plný text záznamu