A self-tuning fuzzy PD controller for a wheeled mobile robot operating in the presence of faults

• Autorzy: Srebro A.
• Języki publikacji: EN

Abstrakty

EN

This paper presents a self-tuning fuzzy PD controller designed to improve a control strategy for a wheeled mobile robot. The dynamic model of a two-wheeled mobile robot was implemented in Matlab/Simulink environment. In this paper the trajectory tracking problem for a mobile robot in the presence of positioning system faults is considered in detail. Mamdani fuzzy reasoning is used to tune the value of proportional gain Kp and derivative gain Kd of a PD controller. A few simulations comparing the classical PD controller with self-tuning fuzzy PD are reported to show advantage of the designed self-tuning controller.

Słowa kluczowe

EN

fuzzy controller; mobile robot; nonholonomic system; trajectory tracking; fault tolerance

• Wydawca: Foundation for Young Scientists
• Czasopismo: Challenges of Modern Technology
• Rocznik: 2011
• Tom: Vol. 2, no. 4
• Strony: 11--20
• Opis fizyczny: Bibliogr. 20 poz., tab., rys., wykr.

Twórcy

autor

Srebro A.

• Warsaw University of Technology, Institute of Control and Industrial Electronics

Bibliografia

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