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.
The results of experimental researches of short-term heating effect up to +90°C on strength, modulus of elasticity and ultimate strains under axial compression of modified high-strength concrete of C70÷C90 classes were presented. The concrete was obtained with the modifier application MB 10-50C. Temperatures of tests − +20°C; +50°C; +70°C; +90°C. Lifting speed of temperature during heating − 15°C/h. The decrease of concrete strength under axial compression was installed in short-term heating conditions up to +50°C; +70°C; +90°C respectively 20%, 23%, 28% by comparison with tests at the normal temperature. Meanwhile, the modulus of elasticity decreased 18%, 20% and 22% respectively. The ultimate compressive strain of concrete increased 15%, 9%, 11% respectively at the same temperatures. This work was carried out within the frameworks of the grant of FNI Ministry of construction of Russia and RAASN on the topic 7.4.15-18 «Fundamental scientific researches of the elevated temperatures’ influence up to 200°C on the characteristics of physical-mechanical and rheological properties of modified high-strength concrete of C70÷C90 classes».
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