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http://hdl.handle.net/10397/1368
| Title: | Fuzzy model reference control of wheeled mobile robots | Authors: | Lam, HK Lee, TH Leung, FHF Tam, PKS |
Issue Date: | 2001 | Source: | IECON'01 : the 27th annual conference of the IEEE Industrial Electronics Society : Denver, Colorado, USA, Nov 29 (Thu) to Dec 2 (Sun) 2001, p. 570-573 | Abstract: | This paper presents the control of a two-wheeled mobile robot (WMR) using a fuzzy model approach. A fuzzy controller will be designed based on a TS fuzzy plant model of the WMR. This proposed controller is capable of driving the system states of the WMR to follow those of a stable reference fuzzy model with the stability of the closed-loop system guaranteed. Simulation results will be presented to illustrate the merits of the proposed fuzzy controller. | Keywords: | Closed loop control systems Computer simulation Control system analysis Fuzzy control Fuzzy sets Kinematics Nonlinear control systems System stability |
Publisher: | IEEE | ISBN: | 0-7803-7108-9 | Rights: | © 2001 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder. |
| Appears in Collections: | Conference Paper |
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| Control of wheeled mobile robots_01.pdf | 245.37 kB | Adobe PDF | View/Open |
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