Using Fuzzy PD Controllers for Soft Motions in a Car-like Robot
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In: ASTES Journal, Vol. 3, No. 6, 01.01.2018, p. 380-390.
Research output: Journal contributions › Journal articles › Research › peer-review
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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 -