- Tytuł:
- A self-tuning fuzzy PD controller for a wheeled mobile robot operating in the presence of faults
- Autorzy:
- Srebro, A.
- Powiązania:
- https://bibliotekanauki.pl/articles/115515.pdf
- Data publikacji:
- 2011
- Wydawca:
- Fundacja na Rzecz Młodych Naukowców
- Tematy:
-
fuzzy controller
mobile robot
nonholonomic system
trajectory tracking
fault tolerance - Opis:
- This paper presents a self-tuning fuzzy PD controller designed to improve a control strategy for a wheeled mobile robot. The dynamic model of a two-wheeled mobile robot was implemented in Matlab/Simulink environment. In this paper the trajectory tracking problem for a mobile robot in the presence of positioning system faults is considered in detail. Mamdani fuzzy reasoning is used to tune the value of proportional gain Kp and derivative gain Kd of a PD controller. A few simulations comparing the classical PD controller with self-tuning fuzzy PD are reported to show advantage of the designed self-tuning controller.
- Źródło:
-
Challenges of Modern Technology; 2011, 2, 4; 11-20
2082-2863
2353-4419 - Pojawia się w:
- Challenges of Modern Technology
- Dostawca treści:
- Biblioteka Nauki
Artykuł