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

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Abstract:

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

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