Stochastic Fuzzy Control. 5th Report. Dynamic Fuzzy Servo System and Its Application to an Omnidirectional Mobile Robot.

Abstract

A fuzzy servo system is described for a system with noises by using a stochastic fuzzy control method with some dynamic linear models. The present fuzzy servo approach is applied to the control problem of rotational angle for an omnidirectional mobile robot with three orthogonal-wheel assemblies. For the dynamic linear system with system and measurement noises, the optimal typel servo system is first derived by applying the estimate of Kaiman filter. Next, a multiple model servo system is considered under the hyposeses on the uncertainties of initial state and input distribution matrix. Furthermore, a stochastic fuzzy servo system taking account of dynamic models is derived by introducing the equality distribution on each multiple model. Finally, the stochastic fuzzy servo method and its modified method with a static evaluation on the model confidence are demonstrated through some simulations for the mobile robot.