@inproceedings{aaf5fb81cd90491a8120eca2bb323808,
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.",
keywords = "SYSTEMS",
author = "Chong-Cheng Shing and Pau-Lo Hsu and Syh-Shiuh Yeh",
year = "2006",
doi = "10.1109/IECON.2006.347314",
language = "English",
isbn = "978-1-4244-0135-2",
series = "IEEE Industrial Electronics Society",
publisher = "IEEE",
pages = "2321--+",
booktitle = "IECON 2006 - 32ND ANNUAL CONFERENCE ON IEEE INDUSTRIAL ELECTRONICS, VOLS 1-11",
note = "null ; Conference date: 07-11-2006 Through 10-11-2006",
}