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Abstract
This paper proposed adaptive fuzzy type-II controllers for the wheeled mobile robot (WMR) systems under conditions of wheel slips and disturbances. The system includes two control loops: outer loop for position tracking and the inner loop for velocity tracking. In each loop, the controller has two parts: the feedback which keeps the system stable and the adaptive type-II fuzzy part which is used to compensate the unknown components that act on the system. The stability of each loop as well as the overall system is proven mathematically based on the Lyapunov theory. Finally, the simulation is setup to verify the effectiveness of the presented algorithm. The simulation results show that, in comparison with the corresponding fuzzy type-I controller, the performance of the adaptive fuzzy type-II controller is better, i.e., the position error is smaller and the velocity is almost smooth under the conditions that the reference trajectory is changed, and the system is affected by wheel slips and external disturbances.
Highlights
Wheeled mobile robots (WMRs) are widely used in industry and service robotics
Operation of WMR is greatly affected by working conditions such as system uncertainties, wheel slips, and external disturbances. erefore, tracking control design for WRM still has the attraction to many researchers
An adaptive fuzzy type-II controller was proposed for the WMR system under the condition of wheel slips and external disturbances. e control system included the dynamic loop and kinematic loop
Summary
Wheeled mobile robots (WMRs) are widely used in industry and service robotics. Mobile robots are self-moving vehicles and versatile with many indoor and outdoor applications [1]. Many nonlinear control methods have been used to solve the tracking control problems of nonholonomic mobile robots such as robust adaptive [2], sliding mode control [3, 4], backstepping control [5, 6], adaptive fuzzy logic control [7], and adaptive neural-network control [8, 9] All of these are proposed with the assumption of “pure rolling without slip.”. An adaptive interval type-2 fuzzy logic controller is proposed for two-loop control of wheeled mobile robots with external disturbances. E proposed controller is expected to allow the error tracking of WMRs to converge to zero under the acting of unknown wheel slips, unknown bounded external disturbances, and model uncertainties. (iv) e stability of the closed-loop system with the proposed controller is proven mathematically based on the Lyapunov theory. is proof for the cascade system is much harder than the single loop
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