Title :
Adaptive robust fuzzy control and implementation for path tracking of a mobile robot
Author :
Quang Vinh, Tran ; Hoang Giap, Nguyen ; Kim, Tae-Won ; Jeong, Moon-Gyo ; Shin, Jin-Ho ; Kim, Won-Ho
Author_Institution :
Dept. of Intell. Syst. Eng., Dong-eui Univ., Busan, South Korea
Abstract :
In this paper, an adaptive robust fuzzy control scheme with a genetic algorithm (GA) is proposed to solve the path tracking problem of a wheeled mobile robot. The presented controller consists of a fuzzy basis function network (FBFN) to approximate an unknown nonlinear function of the robot dynamics with uncertainties. A genetic algorithm is employed in the fuzzy inference to optimize the fuzzy rules of FBFN. The robust term with adaptive update rules is designed to suppress the external disturbances, hence it makes the system insensitive to the noises and disturbances of the environment. The robot dynamics including the actuator dynamics is considered. The stability and the convergence of the tracking errors are guaranteed by using the Lyapunov stability theory. The validity and robustness of the proposed control scheme are demonstrated through computer simulations and experiments with a wheeled mobile robot.
Keywords :
Lyapunov methods; adaptive control; fuzzy control; genetic algorithms; inference mechanisms; mobile robots; path planning; robot dynamics; robust control; Lyapunov stability theory; actuator dynamics; adaptive robust fuzzy control; adaptive update rules; fuzzy basis function network; fuzzy inference; fuzzy rules; genetic algorithm; path tracking; robot dynamics; wheeled mobile robot; Adaptive control; Fuzzy control; Genetic algorithms; Mobile robots; Noise robustness; Nonlinear dynamical systems; Programmable control; Robot control; Robust control; Uncertainty;
Conference_Titel :
Industrial Electronics, 2009. ISIE 2009. IEEE International Symposium on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-4347-5
Electronic_ISBN :
978-1-4244-4349-9
DOI :
10.1109/ISIE.2009.5213926