TY - JOUR

T1 - Using Fuzzy PD Controllers for Soft Motions in a Car-like Robot

AU - Mercorelli, Paolo

N1 - Publisher Copyright: © 2018 Advances in Science, Technology and Engineering Systems. All rights reserved.

PY - 2018/1/1

Y1 - 2018/1/1

N2 - 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.

AB - 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.

KW - Engineering

KW - Fuzzy control

KW - Nonholonomic car-like robot

KW - Sensorless cascade control system

UR - https://astesj.com/v03/i06/p46/

UR - http://www.scopus.com/inward/record.url?scp=85061784937&partnerID=8YFLogxK

U2 - 10.25046/aj030646

DO - 10.25046/aj030646

M3 - Journal articles

VL - 3

SP - 380

EP - 390

JO - ASTES Journal

JF - ASTES Journal

SN - 2415-6698

IS - 6

ER -