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Adaptive Fuzzy Type-II Controller for Wheeled Mobile Robot with Disturbances and Wheelslips

Journal of Robotics, 2021-09, Vol.2021, p.1-11 [Peer Reviewed Journal]

Copyright © 2021 Viet Quoc Ha et al. ;COPYRIGHT 2021 Hindawi Limited ;Copyright © 2021 Viet Quoc Ha et al. This is an open access article distributed under the Creative Commons Attribution License (the “License”), which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Notwithstanding the ProQuest Terms and Conditions, you may use this content in accordance with the terms of the License. https://creativecommons.org/licenses/by/4.0 ;ISSN: 1687-9600 ;EISSN: 1687-9619 ;DOI: 10.1155/2021/6946210

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  • Title:
    Adaptive Fuzzy Type-II Controller for Wheeled Mobile Robot with Disturbances and Wheelslips
  • Author: Ha, Viet Quoc ; Pham, Sen Huong-Thi ; Vu, Nga Thi-Thuy
  • Buscarino, Arturo ; Arturo Buscarino
  • Subjects: Algorithms ; Analysis ; Closed loop systems ; Controllers ; Disturbances ; Fuzzy control ; Fuzzy logic ; Neural networks ; Position errors ; Robotics ; Robots ; Tracking ; Velocity ; Wheels
  • Is Part Of: Journal of Robotics, 2021-09, Vol.2021, p.1-11
  • Description: This paper proposed adaptive fuzzy type-II controllers for the wheeled mobile robot (WMR) systems under conditions of wheel slips and disturbances. The system includes two control loops: outer loop for position tracking and the inner loop for velocity tracking. In each loop, the controller has two parts: the feedback which keeps the system stable and the adaptive type-II fuzzy part which is used to compensate the unknown components that act on the system. The stability of each loop as well as the overall system is proven mathematically based on the Lyapunov theory. Finally, the simulation is setup to verify the effectiveness of the presented algorithm. The simulation results show that, in comparison with the corresponding fuzzy type-I controller, the performance of the adaptive fuzzy type-II controller is better, i.e., the position error is smaller and the velocity is almost smooth under the conditions that the reference trajectory is changed, and the system is affected by wheel slips and external disturbances.
  • Publisher: New York: Hindawi
  • Language: English
  • Identifier: ISSN: 1687-9600
    EISSN: 1687-9619
    DOI: 10.1155/2021/6946210
  • Source: ROAD: Directory of Open Access Scholarly Resources
    ProQuest Central
    DOAJ Directory of Open Access Journals
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