Title of article :
Design of optimal Mamdani-type fuzzy controller for nonholonomic wheeled mobile robots
Author/Authors :
Nazari Maryam Abadi, Davood Islamic Azad University, Garmsar Branch - Department of Electrical and Robotic Engineering, ايران , Khooban, Mohammad Hassan Iranian Space Agency - Iranian Space Research Center, Mechanic Institute, ايران , Khooban, Mohammad Hassan Islamic Azad University, Garmsar Branch - Department of Electrical and Robotic Engineering, ايران
Abstract :
In this paper, in order to cope with both parametric and nonparametric uncertainties in the robot model, an optimal Mamdani-type fuzzy logic controller is introduced for trajectory tracking of wheeled mobile robots (WMRs). The dynamic model of a nonholonomic mobile robot was implemented in the Matlab/Simulink environment. The parameters of input and output membership functions, and PID controller coefficients are optimized simultaneously by random inertia weight Particle Swarm Optimization (RNW-PSO). Simulation results show the system performance is desirable.
Keywords :
Nonholonomic wheeled mobile robot (WMR) , Fuzzy controller , Particle Swarm Optimization (PSO)
Journal title :
Journal Of King Saud University - Engineering Sciences
Journal title :
Journal Of King Saud University - Engineering Sciences
