Title :
An interval type-2 fuzzy LQR positioning controller for wheeled mobile robot
Author :
Farooq, Umar ; Gu, Jhen-Fong ; Luo, JianChao
Author_Institution :
Dept. of Electr. & Comput. Eng., Dalhousie Univ., Halifax, NS, Canada
Abstract :
An interval type-2 fuzzy logic controller using the switching type-1 fuzzy Takagi-Sugeno model is presented for the position control of wheeled mobile robot. The control gains for the switched regions are determined using linear quadratic regulator approach. The blending of the local controllers based on the interval type-2 design scheme yields the final motion commands for the wheeled mobile robot. MATLAB simulations have proved the effectiveness of the proposed controller.
Keywords :
control system synthesis; fuzzy control; linear quadratic control; mobile robots; position control; MATLAB simulations; interval type-2 fuzzy LQR positioning controller; linear quadratic regulator approach; switching type-1 fuzzy Takagi-Sugeno model; wheeled mobile robot; Fuzzy logic; Mathematical model; Mobile robots; Nonlinear systems; Position control; Switches;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on
Conference_Location :
Shenzhen
DOI :
10.1109/ROBIO.2013.6739830
