A Nonlinear Trajectory Tracking Controller for Mobile Robots with Velocity Limitation via Fuzzy Gains

Authors
Resende, Cassius Z.; Carelli Albarracin, Ricardo Oscar; Sarcinelli Filho, Mário
Publication Year
2013
Language
English
Format
article
Status
Published version
Description
This paper proposes a fuzzy controller for trajectory tracking with unicycle-like mobile robots. Such controller uses two Takagi–Sugeno (TS) fuzzy blocks to generate its gains. The controller is able to limit the velocity and control signals of the robot, and to reduce the errors arising from its dynamics as well. The stability of the developed controller is proven, using the theory of Lyapunov. Experimental results show that the use of the proposed controller is attractive in comparison with the use of a controller with fixed saturation function.
Fil: Resende, Cassius Z.. Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil
Fil: Carelli Albarracin, Ricardo Oscar. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico San Juan. Instituto de Automática; Argentina
Fil: Sarcinelli Filho, Mário. Universidade Federal Do Espirito Santo. Centro Tecnologico. Departamento de Ingenieria Electrica; Brasil
Subject
Robotics
Mobile Robots
Fuzzy Control
Nonlinear Control Systems
Autonomous vehicles
Takagi–Sugeno model
Control Automático y Robótica
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información
INGENIERÍAS Y TECNOLOGÍAS
Access level
Restricted access
License
https://creativecommons.org/licenses/by-nc-nd/2.5/ar/
Repository
CONICET Digital (CONICET)
Institution
Consejo Nacional de Investigaciones Científicas y Técnicas
OAI Identifier
oai:ri.conicet.gov.ar:11336/3857