DocumentCode
635133
Title
Omni-directional spherical mobile system control
Author
Chih-Hui Chiu ; Ya-Fu Peng
Author_Institution
Dept. of Electr. Eng., Yuan-Ze Univ., Taoyuan, Taiwan
fYear
2013
fDate
23-26 June 2013
Firstpage
1
Lastpage
4
Abstract
In this study, an omni-directional spherical mobile system (ODSMS) based on a dual Mamdani-type fuzzy control strategy (DMTFCS) is implemented. The key feature of this robot is it can move directly in any direction with no constraint. Since the dynamic characteristic of the ODSMS is highly nonlinear, a fuzzy control strategy without system information is designed. The stability of DMTFC system, which is based on the Lyapunov stability theorem, can be ensured without any strict constraint. The effectiveness of the proposed control system is verified by ODSMS real-world implementation.
Keywords
Lyapunov methods; fuzzy control; mobile robots; nonlinear control systems; DMTFCS; Lyapunov stability theorem; ODSMS; dual Mamdani-type fuzzy control strategy; information system; omnidirectional spherical mobile system control; DC motors; Fuzzy control; Mobile communication; Mobile robots; Trajectory; Lyapunov function; Omni-directional spherical mobile system; model-free Mamdani-type fuzzy control;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Conference (ASCC), 2013 9th Asian
Conference_Location
Istanbul
Print_ISBN
978-1-4673-5767-8
Type
conf
DOI
10.1109/ASCC.2013.6606349
Filename
6606349
Link To Document