Adaptive Fuzzy Predictive Hybrid Position/Velocity Control of Nonholonomic Wheeled Mobile Robots
Publish place: 11th Iranian Conference on Fuzzy Systems
Publish Year: 1390
Type: Conference paper
Language: English
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Document National Code:
ICFUZZYS11_009
Index date: 26 July 2011
Adaptive Fuzzy Predictive Hybrid Position/Velocity Control of Nonholonomic Wheeled Mobile Robots abstract
This paper presents Nonlinear Model-based Predictive Control (NMPC) of Wheeled Mobile Robots (WMRs) based on a discrete-time fuzzy model to approximate the dynamics of the robot and the actuator. The parameters of the fuzzy model are adjusted on-line by using gradient descent algorithm and recursive least square estimation method in order to cope with uncertainties in the system. Moreover, by tuning the weights in the cost function of the NMPC, better tracking error of the WMR can be obtained. The simulation results show that the proposed method can effectively control a type (2,0) WMR with a good performance
Adaptive Fuzzy Predictive Hybrid Position/Velocity Control of Nonholonomic Wheeled Mobile Robots Keywords:
Mobile robots , Trajectory tracking , Nonlinear model predictive control , Fuzzy modeling , Adaptive control
Adaptive Fuzzy Predictive Hybrid Position/Velocity Control of Nonholonomic Wheeled Mobile Robots authors
Zahra Sinaeefar
Department of Electrical Engineering, Iran University of Science and Technology, Tehran ۱۶۸۴۶-۱۳۱۱۴, Iran
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