If you are experiencing problems downloading PDF or HTML fulltext, our helpdesk recommend clearing your browser cache and trying again. If you need help in clearing your cache, please click here . Still need help? Email help@ingentaconnect.com

Rotational control of an omnidirectional mobile robot using a fuzzy servo controller

$61.74 plus tax (Refund Policy)

Buy Article:


It is known that the equation of motions for an omnidirectional mobile robot is nonlinear with respect to the rotational angle between the moving and absolute coordinate systems. In this paper, a fuzzy model approach is applied to the control of a time-varying rotational angle, in which multiple linear models are obtained by utilizing the original nonlinear model in some representative angles and they are used to derive the optimal type 2 servo gain matrices. The effectiveness of the proposed method is illustrated by giving some simulations for the trajectory tracking control problem.

Document Type: Research Article

DOI: http://dx.doi.org/10.1163/156855398X00136

Affiliations: 1: Department of Advanced Systems Control Engineering, Graduate School of Science and Engineering, Saga University, I Honjomachi, Saga 840-8502, Japan 2: Department of Mechanical Engineering, Faculty of Science and Engineering, Saga University, I Honjomachi, Saga 840-8502, Japan 3: Department of Mechanical Enginnering, Faculty of Engineering, Yamaguchi University, 2557 Tokiwadai, Ube 755-8611, Japan 4: Department of Production and Control Technology, Faculty of Engineering Systems and Technology Graduate School of Science and Engineering, Saga University, l Honjomachi, Saga 840-8502, Japan

Publication date: January 1, 1997

Related content

Share Content

Access Key

Free Content
Free content
New Content
New content
Open Access Content
Open access content
Subscribed Content
Subscribed content
Free Trial Content
Free trial content
Cookie Policy
Cookie Policy
ingentaconnect website makes use of cookies so as to keep track of data that you have filled in. I am Happy with this Find out more