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

A self-tuning fuzzy PD controller for a wheeled mobile robot operating in the presence of faults
File Size:
436.58 kB
Author:
Adam Srebro
Email:
srebroa[at]ee[dot]pw[dot]edu[dot]pl
Date:
13 August 2013
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Abstract: 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.

Keywords: fuzzy controller, mobile robot, nonholonomic system, trajectory tracking, fault-tolerant

Area: Mechanics, Automatics and Robotics

BibTeX:

@article{Srebro2011,
  author = {Adam Srebro},
  title = {A self-tuning fuzzy PD controller for a wheeled mobile robot operating in the presence of faults},
  journal = {Challenges of Modern Technology},
  year = {2011},
  volume = {2},
  number = {4},
  pages = {11--20},
  url = {http://www.journal.young-scientists.eu/index.php/isuues/file/61-a-self-tuning-fuzzy-pd-controller-for-a-wheeled-mobile-robot-operating-in-the-presence-of-faults}
}
 
 

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