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

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

doi:10.1109/IECON.2006.347314

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

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

Department of Electrical and Computer Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference 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 language	English
Title of host publication	IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11
Publisher	IEEE
Pages	2321-+
ISBN (Print)	978-1-4244-0135-2
DOIs	https://doi.org/10.1109/IECON.2006.347314
State	Published - 2006
Event	32nd Annual Conference of the IEEE-Industrial-Electronics-Society - Paris, France Duration: 7 Nov 2006 → 10 Nov 2006

Publication series

Name	IEEE Industrial Electronics Society
Publisher	IEEE
ISSN (Print)	1553-572X

Conference

Conference	32nd Annual Conference of the IEEE-Industrial-Electronics-Society
Country	France
City	Paris
Period	7/11/06 → 10/11/06

Keywords

SYSTEMS

Access to Document

10.1109/IECON.2006.347314

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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

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title = "T-S fuzzy path controller design for the omnidirectional mobile robot",

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.",

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note = "null ; Conference date: 07-11-2006 Through 10-11-2006",

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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. IEEE Industrial Electronics Society, IEEE, pp. 2321-+, 32nd Annual Conference of the IEEE-Industrial-Electronics-Society, Paris, France, 7/11/06. https://doi.org/10.1109/IECON.2006.347314

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AU - Hsu, Pau-Lo

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N2 - 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.

AB - 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.

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BT - IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11

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