Using Fuzzy PD Controllers for Soft Motions in a Car-like Robot

Publikation: Beiträge in ZeitschriftenZeitschriftenaufsätzeForschungbegutachtet

Authors

This paper deals with the control problem for nonholonomic wheeled mobile robots moving on the plane, and in particular, the use of a Fuzzy controller technique for achieving a given motion task which consists of following a rectilinear trajectory until an obstacle occurs on the path. After a background part, in which the fundamental knowledge of Fuzzy control is considered, the problem of the avoidance of an obstacle is taken into consideration. When an obstacle occurs on the path, the drive assistant provides for its avoidance calculating the minimal distance from which the avoidance maneuver starts. Conditions on the parameters of a PD controller are calculated using a Fuzzy based approach. An observer is designed to obtain unmeasurable states to be used in the control loop. In the Appendix of this paper a formal demonstration of a Proposition is proven in which the convergence of the system state estimation of the observer is shown. Simulations considering a real transporter vehicle for a storage service are shown.
OriginalspracheEnglisch
ZeitschriftASTES Journal
Jahrgang3
Ausgabenummer6
Seiten (von - bis)380-390
Anzahl der Seiten11
ISSN2415-6698
DOIs
PublikationsstatusErschienen - 01.01.2018

Bibliographische Notiz

Publisher Copyright:
© 2018 Advances in Science, Technology and Engineering Systems. All rights reserved.

Links

DOI

Zuletzt angesehen

Publikationen

  1. A Matlab/Simulink toolbox for inversion of local linear model trees
  2. Jackson networks in nonautonomous random environments
  3. MICSIM: Concept, Developments, and Applications of a PC Microsimulation Model for Research and Teaching
  4. Petri net based EMIS-mappers for flexible manufacturing systems
  5. Reducing mean tardiness in a flexible job shop containing AGVs with optimized combinations of sequencing and routing rules
  6. Explaining the (Non-) Adoption of Advanced Data Analytics in Auditing
  7. Microsimulation - A survey of principles, developments and applications
  8. A Computational Research System for the History of Science
  9. A direct test of the similarity assumption — Focusing on differences as compared with similarities decreases automatic imitation
  10. Developing a model of financing for brownfield redevelopment
  11. Complex Trait-Treatment-Interaction analysis
  12. Schellings subjektivitätskritik
  13. Explaining Disagreement on Interest Rates in a Taylor-Rule Setting
  14. Biodiversity in space and time - towards a grid mapping for Mongolia
  15. How do students and teachers deal with mathematical modelling problems?
  16. Linking large-scale and small-scale distribution patterns of steppe plant species—An example using fourth-corner analysis
  17. Lengthscale-dependent modelling of ductile failure in metallic microstructures
  18. Learning in Real-World Laboratories: A Systematic Impulse for Discussion
  19. Enforcement concepts and strategies in the EU
  20. CODA - A Groupbase System For Cooperative Design Applications
  21. Introduction to Thinking the Problematic
  22. On the geometric control of internal forces in power grasps
  23. Tier
  24. Do edible oils reduce bacterial colonization of enamel in situ ?
  25. Oxygen dependence in the photoreaction of the pesticide metamitron
  26. Concurrently Observed Actions Are Represented Not as Compound Actions but as Independent Actions
  27. Sustainability-oriented technology exploration: managerial values, ambidextrous design, and separation drift
  28. An "intelligent product system" to replace "waste management"
  29. Cascade MIMO P-PID Controllers Applied in an Over-actuated Quadrotor Tilt-Rotor
  30. Why the measurement of species diversity requires prior value judgements
  31. The significance of tree-tree interactions for forest ecosystem functioning
  32. Assessment of age-correlated occupational strain as a prerequisite for age-appropriate work organization
  33. Institutional mirror versus substitute: How regulations affect explicit CSR motivation
  34. Trade-off between Production and Inventory Costs with Respect to a Given Demand Situation