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

Volume

1

fYear

1996

fDate

14-17 Oct 1996

Firstpage

316

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man, and Cybernetics, 1996., IEEE International Conference on

Conference_Location

Beijing

ISSN

1062-922X

Print_ISBN

0-7803-3280-6

Type

conf

DOI

10.1109/ICSMC.1996.569787

Filename

569787