T-S fuzzy path controller design for the omnidirectional mobile robot

Chong-Cheng Shing, Pau-Lo Hsu, Syh-Shiuh Yeh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

This paper focuses on the design of T-S fuzzy path controller for improving the high-speed tracking accuracy of a four-wheel omnidirectional mobile robot (ODMR). Usually, when an ODMR moves in high speed, the adverse effects induced by Coriolis force significantly deteriorate the tracking performances. In this paper, a T-S fuzzy control designed with both the state feedback and path tracking error is proposed to meet the design specifications. Moreover, a new approach of kinematics inversion considering the nonlinear term of coordinate transform is proposed to simplify the analysis of ODMR motion. Finally, an example is provided to compare the present T-S fuzzy path controller with the well-tuned PID controller. The simulation results indicate that the proposed approach provides much better tracking performances as the speed of ODMR increases.
Original languageEnglish
Title of host publicationIECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11
PublisherIEEE
Pages2321-+
ISBN (Print)978-1-4244-0135-2
DOIs
StatePublished - 2006
Event32nd Annual Conference of the IEEE-Industrial-Electronics-Society - Paris, France
Duration: 7 Nov 200610 Nov 2006

Publication series

NameIEEE Industrial Electronics Society
PublisherIEEE
ISSN (Print)1553-572X

Conference

Conference32nd Annual Conference of the IEEE-Industrial-Electronics-Society
CountryFrance
CityParis
Period7/11/0610/11/06

Keywords

  • SYSTEMS

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    Shing, C-C., Hsu, P-L., & Yeh, S-S. (2006). T-S fuzzy path controller design for the omnidirectional mobile robot. In IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11 (pp. 2321-+). (IEEE Industrial Electronics Society). IEEE. https://doi.org/10.1109/IECON.2006.347314