Adaptive Fuzzy Type-II Controller for Wheeled Mobile Robot with Disturbances and Wheelslips
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 p...
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| Format: | Article |
| Language: | English |
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Wiley
2021-01-01
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| Series: | Journal of Robotics |
| Online Access: | http://dx.doi.org/10.1155/2021/6946210 |
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| _version_ | 1832545807645016064 |
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| author | Viet Quoc Ha Sen Huong-Thi Pham Nga Thi-Thuy Vu |
| author_facet | Viet Quoc Ha Sen Huong-Thi Pham Nga Thi-Thuy Vu |
| author_sort | Viet Quoc Ha |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-b8ce7b12f994487cb007957fd52f0f00 |
| institution | Kabale University |
| issn | 1687-9600 1687-9619 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | Journal of Robotics |
| spelling | doaj-art-b8ce7b12f994487cb007957fd52f0f002025-02-03T07:24:38ZengWileyJournal of Robotics1687-96001687-96192021-01-01202110.1155/2021/69462106946210Adaptive Fuzzy Type-II Controller for Wheeled Mobile Robot with Disturbances and WheelslipsViet Quoc Ha0Sen Huong-Thi Pham1Nga Thi-Thuy Vu2School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi, VietnamFaculty of Control and Automation, Electric Power University, Hanoi, VietnamSchool of Electrical Engineering, Hanoi University of Science and Technology, Hanoi, VietnamThis 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.http://dx.doi.org/10.1155/2021/6946210 |
| spellingShingle | Viet Quoc Ha Sen Huong-Thi Pham Nga Thi-Thuy Vu Adaptive Fuzzy Type-II Controller for Wheeled Mobile Robot with Disturbances and Wheelslips Journal of Robotics |
| title | Adaptive Fuzzy Type-II Controller for Wheeled Mobile Robot with Disturbances and Wheelslips |
| title_full | Adaptive Fuzzy Type-II Controller for Wheeled Mobile Robot with Disturbances and Wheelslips |
| title_fullStr | Adaptive Fuzzy Type-II Controller for Wheeled Mobile Robot with Disturbances and Wheelslips |
| title_full_unstemmed | Adaptive Fuzzy Type-II Controller for Wheeled Mobile Robot with Disturbances and Wheelslips |
| title_short | Adaptive Fuzzy Type-II Controller for Wheeled Mobile Robot with Disturbances and Wheelslips |
| title_sort | adaptive fuzzy type ii controller for wheeled mobile robot with disturbances and wheelslips |
| url | http://dx.doi.org/10.1155/2021/6946210 |
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