1. //
  2. Start
  3. //
  4. Publikationen
  5. //
  6. Using Fuzzy PD Controllers for Soft Moti...
  7. //

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

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

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.

In der gleichen Zeitschrift

Stability analysis of a linear model predictive control and its application in a water recovery process

Mercorelli, P., 01.01.2019, in: Advances in Science, Technology and Engineering Systems. 4, 5, S. 314-320 7 S.

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

Weitere Publikationen dieser Person(en)

An Over-Actuated Hexacopter Tilt-Rotor UAV Prototype for Agriculture of Precision: Modeling and Control

Pimentel, G. O., Santos, M. F. D., Lima, J., Mercorelli, P. & Fernandes, F. M., 15.01.2025, in: Sensors. 25, 2, 27 S., 479.

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

Automatic Tuning of Extended Kalman Filter in Synchronous Reluctance Motor Drives with a Master-Slave Configuration

Rigon, S., Haus, B., Mercorelli, P. & Zigliotto, M., 27.02.2025, (Elektronische Veröffentlichung vor Drucklegung) in: IEEE Open Journal of Power Electronics. 14 S.

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

Dynamic Performance Analysis and Fault Ride-Through Enhancement by a Modified Fault Current Protection Scheme of a Grid-Connected Doubly Fed Induction Generator

Talani, R. A., Kaloi, G. S., Ali, A., Bijarani, M. A., Abbas, G., Hatatah, M., Mercorelli, P. & Touti, E., 02.2025, in: Machines. 13, 2, 20 S., 110.

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

Inner loop model predictive control and outer loop PI reference governor for PMSMs with input and state saturation for torque control

Zwerger, T. & Mercorelli, P., 01.02.2025, in: Mathematics and Computers in Simulation. 228, S. 178-201 24 S.

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

Neural Network-Based Finite-Time Control for Stochastic Nonlinear Systems with Input Dead-Zone and Saturation

Kharrat, M., Krichen, M., Alhazmi, H. & Mercorelli, P., 11.01.2025, (Elektronische Veröffentlichung vor Drucklegung) in: Arabian Journal for Science and Engineering. 11 S.

Publikation: Beiträge in Zeitschriften › Zeitschriftenaufsätze › Forschung › begutachtet

Links

DOI

Zuletzt angesehen

Publikationen

  1. Improved sensorimotor control is not connected with improved proprioception
  2. An analytical approach to evaluating monotonic functions of fuzzy numbers
  3. Some model properties to control a permanent magnet machine using a controlled invariant subspace
  4. A structural property of the wavelet packet transform method to localise incoherency of a signal
  5. Advances in Dynamics, Optimization and Computation
  6. A Theoretical Dynamical Noninteracting Model for General Manipulation Systems Using Axiomatic Geometric Structures
  7. Robust Control of Mobile Transportation Object with 3D Technical Vision System
  8. Return of Fibonacci random walks
  9. Machine Learning and Knowledge Discovery in Databases
  10. Dimension estimates for certain sets of infinite complex continued fractions
  11. Validation of an open source, remote web-based eye-tracking method (WebGazer) for research in early childhood
  12. Energy Optimization in Motion Planning of a Two-Link Manipulator using Bernstein Polynomials
  13. Adjustable automation and manoeuvre control in automated driving
  14. An observer for sensorless variable valve control in camless internal combustion engines
  15. Multilevel bridge governor by using model predictive control in wavelet packets for tracking trajectories
  16. A PD regulator to minimize noise effect using a minimal variance method for soft landing control of an electromagnetic valve actuator
  17. A simple control strategy for increasing the soft bending actuator performance by using a pressure boost
  18. Use of Machine-Learning Algorithms Based on Text, Audio and Video Data in the Prediction of Anxiety and Post-Traumatic Stress in General and Clinical Populations
  19. Comparison of Trajectory Estimation Methods Based on LIDAR and Monocular Camera in a Simulated Environment
  20. Automatic feature selection for anomaly detection
  21. The Forgotten Function of Forgetting
  22. Kit based motion generator for a soft walking robot
  23. Structural Synthesis of Parallel Robots with Unguided Linear Actuators
  24. Parameterized Synthetic Image Data Set for Fisheye Lens
  25. Document assignment in multi-site search engines
  26. Detection time analysis of propulsion system fault effects in a hexacopter
  27. On the utility of indirect methods for detecting faking
  28. On the origin of passive rotation in rotational joints, and how to calculate it
  29. Homogenization methods for multi-phase elastic composites with non-elliptical reinforcements
  30. Mining Implications From Data
  31. Early Detection of Faillure in Conveyor Chain Systems by Wireless Sensor Node
  32. Trait-based approaches to analyze links between the drivers of change and ecosystem services
  33. Design, Modeling and Control of an Over-actuated Hexacopter Tilt-Rotor
  34. Robust Control of Excavation Mobile Robot with Dynamic Triangulation Vision
  35. Optimal dynamic scale and structure of a multi-pollution economy
  36. An error management perspective on audit quality
  37. A high-resolution approach for the spatiotemporal analysis of forest canopy space using terrestrial laser scanning data
  38. Obstacle Coordinates Transformation from TVS Body-Frame to AGV Navigation-Frame
  39. Impulsive Feedback Linearization for Decoupling of a Constant Disturbance with Low Relative Degree to Control Maglev Systems
  40. A Sliding Mode Control with a Bang-Bang Observer for Detection of Particle Pollution
  41. Global Finite-Time Stabilization of Planar Linear Systems With Actuator Saturation
  42. A Lyapunov based PI controller with an anti-windup scheme for a purification process of potable water
  43. The Impact of AGVs and Priority Rules in a Real Production Setup – A Simulation Study
  44. Performance of process-based models for simulation of grain N in crop rotations across Europe
  45. A Control of an Electromagnetic Actuator Using Model Predictive Control
  46. Passive Rotation Compensation in Parallel Kinematics Using Quaternions
  47. Educational reconstruction as model for the theory-based design of student-centered learning environments in electrical engineering courses
  48. An isomorphism between polynomial eigenfunctions of the transfer operator and the Eichler cohomology for modular groups
  49. A geometric approach for the design and control of an electromagnetic actuator to optimize its dynamic performance
  50. Machine vision system errors for unmanned aerial vehicle navigation