Switching fuzzy tracking control for mobile robots under curvature constraints

Controle Fuzzy De Robô Diferencial

“…Estas simulações podem ser realizadas em ambiente computacionais para a navegação do robô móvel, em (Pandey & Parhi, 2014) esta simulação foi realizada no MATLAB e usando uma lógica de controle fuzzy, foi possível simular a navegação mesmo com a inserção de obstáculos desordenados. Em (Moustris & Tzafestas, 2011), é proposto um controlador baseado em lógica fuzzy para robôs móveis que apresentam uma restrição de curvatura limitada, monitorando e fazendo uma aproximação do caminho de referência possível, para o monitoramento de linhas retas.…”

Feedback Equivalence and Control of Mobile Robots Through a Scalable FPGA Architecture

“…In the case of a constant S, the angle φ varies from [−π/2, π/2] and the tuple (φ 1 , φ 2 ) is constrained in a strip. This can also lead to a rule reduction in the FLC rule base since some rules are never activated ( (Moustris & Tzafestas, 2011)). For the control of the robot, the FLC and the SWAM were calculated on-line using a dedicated FPGA SoC, as described in the next section.…”

“…Of course, boundaries often blend since various approaches are used simultaneously. Fuzzy logic path trackers have been used by several researchers (Abdessemed et al, 2004;Antonelli et al, 2007;Baltes & Otte, 1999;Cao & Hall, 1998;Deliparaschos et al, 2007;El Hajjaji & Bentalba, 2003;Jiangzhou et al, 1999;Lee et al, 2003;Liu & Lewis, 1994;Moustris & Tzafestas, 2011;Ollero et al, 1997;Raimondi & Ciancimino, 2008;Rodriguez-Castano et al, 2000;Sanchez et al, 1997) since fuzzy logic provides a more intuitive way for analysing and formulating the control actions, which bypasses most of the mathematical load needed to tackle such a highly nonlinear control problem. Furthermore, the fuzzy controller, which can be less complex in its implementation, is inherently robust to noise and parameter uncertainties.…”

Adaptive Trajectory Tracking Control for WMR based on Cascade-design Method

“…are adaptation gains, the closed-loop system described by (10), (11), and (8) is globally asymptotically stable in presence of unknown parameters.…”

“…A sliding mode control scheme to solve the tracking problem based on the discrete time model of the robot [9] and a sliding-mode control method for wheeled-mobile robots in polar coordinates have been proposed [10]. In [11], a switching fuzzy logic controller for mobile robots with a bounded curvature constraint has been presented. A tracking control method for a robot has been presented, which combines adaptive approach and neural dynamics [12].…”