Title :
Controlador fuzzy em cascata no ângulo de giro por propagação de referência de robôs móveis multi-articulados: Caso real
Author :
de Paula Ferreira, Edson ; Pandolfi, Filipe ; Reinan, Tiago
Author_Institution :
Dept. de Eng. Eletr., Univ. Fed. do Espirito Santo - UFES, Vitória, Brazil
Abstract :
This article discusses the maneuver´s control of multi-articulated vehicles or mobile robots, specifically for backward movements, that are non-linear and have hard analytical characterization. A Control on Rotation by Refence Propagation (CGPR) controller is proposed based on angle of rotation and fuzzy theory. This solution is compared with Global controller one, proposed in the literature. That performance analysis made with a real aplication in a three degrees of freedom prototype, Truck-Trailer-Trailer.
Keywords :
cascade control; fuzzy control; mobile robots; backward movements; control on rotation by refence propagation controller; fuzzy cascade control; mobile multi-articulated robots; mobile robots; multi-articulated vehicles; reference propagation; rotation angle; Electronic mail; Industry applications; Mobile robots; Performance analysis; Process control; Prototypes; Vehicles;
Conference_Titel :
Industry Applications (INDUSCON), 2010 9th IEEE/IAS International Conference on
Conference_Location :
Sao Paulo
Print_ISBN :
978-1-4244-8008-1
Electronic_ISBN :
978-1-4244-8009-8
DOI :
10.1109/INDUSCON.2010.5739883
