Stability study of a fuzzy controlled mobile robot

Author

Gartner, Herbert ; Astolfi, A.

Author_Institution

I&C Dept., Austrian Energy & Environ., Graz, Austria

Volume

2

fYear

1996

fDate

11-13 Dec 1996

Firstpage

1121

Abstract

In the present paper we study the stability properties of a fuzzy controlled mobile robot moving in a cluttered environment. To this end, a simple approximation process for a linguistically designed fuzzy controller, producing a representative analytic function, is introduced and some of its features are discussed. This enables use of analytic methods, i.e. Lyapunov theory, to investigate the asymptotic properties of fuzzy controlled systems. In particular, the problems of asymptotic stabilization and of local navigation for a simple (kinematic) mobile robot are addressed and solved

Keywords

Lyapunov methods; asymptotic stability; closed loop systems; fuzzy control; mobile robots; navigation; path planning; robot kinematics; Lyapunov theory; approximation process; asymptotic properties; asymptotic stabilization; cluttered environment; fuzzy controlled mobile robot; linguistically designed fuzzy controller; local navigation; representative analytic function; stability properties; Closed loop systems; Control systems; Fuzzy control; Fuzzy sets; Fuzzy systems; Mobile robots; Motion planning; Navigation; Robot control; Stability;

fLanguage

English

Publisher

ieee

Conference_Titel

Decision and Control, 1996., Proceedings of the 35th IEEE Conference on

Conference_Location

Kobe

ISSN

0191-2216

Print_ISBN

0-7803-3590-2

Type

conf

DOI

10.1109/CDC.1996.572602

Filename

572602