Title :
Stochastic fuzzy control for an autonomous mobile robot
Author :
Tang, Jun ; Nomiyama, Akira ; Watanabe, Keigo ; YUBAZAKI, Naoyoshi
Author_Institution :
Dept. of Mech. Eng., Saga Univ., Japan
Abstract :
This paper presents a design method of stochastic fuzzy controller for multi input and output nonlinear systems, in which the fuzzy controller can be designed using a pole assignment without using any conventional fuzzy reasoning. The stochastic fuzzy control method is applied to a nonlinear system of an omnidirectional holonomic mobile robot. The effectiveness of the control scheme is illustrated by numerical simulations for some path tracking problems in the omnidirectional mobile robot with three orthogonal-wheel assemblies
Keywords :
MIMO systems; control system synthesis; fuzzy control; mobile robots; multivariable control systems; nonlinear control systems; pole assignment; stochastic systems; MIMO nonlinear systems; autonomous mobile robot; omnidirectional holonomic mobile robot; orthogonal-wheel assemblies; path tracking problems; pole assignment; stochastic fuzzy control design; Control systems; Design methodology; Fuzzy control; Fuzzy reasoning; Fuzzy systems; Mobile robots; Nonlinear control systems; Nonlinear systems; Stochastic processes; Stochastic systems;
Conference_Titel :
Systems, Man, and Cybernetics, 1996., IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-3280-6
DOI :
10.1109/ICSMC.1996.569787
