Design of Optimal Servo Systems Based on Fuzzy Models for an Omnidirectional Mobile Robot

Jun Tang, Keigo Watanabe

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

In this article we propose a design method of an optimal servo fuzzy system for an omnidirectional mobile robot. For the robot, it is considered that the nonlinearity of the dynamic system is mainly dominated by the rotational angle of the robot between the moving and absolute coordinate systems. In order to build the model-based fuzzy servo system, we first choose some representative rotational angles to simplify the nonlinear model to multiple linear models. Then, optimal type-1 and type-2 servo controllers are derived for the rotational control of the mobile robot. The servo gain matrices associated with the controllers are found by using the linear fuzzy models. Finally, we present the results of simulations and show how to use our method to control the omnidirectional mobile robot.

Original languageEnglish
Pages (from-to)3894-3900
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume64
Issue number626
DOIs
Publication statusPublished - 1998
Externally publishedYes

Fingerprint

Servomechanisms
Mobile robots
Robots
Controllers
Fuzzy systems
Dynamical systems

Keywords

  • Fuzzy Control
  • Fuzzy Model
  • Omnidirectional Mobile Robot
  • Optimal Servo Control
  • Robot Control
  • Robotics

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

Cite this

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abstract = "In this article we propose a design method of an optimal servo fuzzy system for an omnidirectional mobile robot. For the robot, it is considered that the nonlinearity of the dynamic system is mainly dominated by the rotational angle of the robot between the moving and absolute coordinate systems. In order to build the model-based fuzzy servo system, we first choose some representative rotational angles to simplify the nonlinear model to multiple linear models. Then, optimal type-1 and type-2 servo controllers are derived for the rotational control of the mobile robot. The servo gain matrices associated with the controllers are found by using the linear fuzzy models. Finally, we present the results of simulations and show how to use our method to control the omnidirectional mobile robot.",
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AB - In this article we propose a design method of an optimal servo fuzzy system for an omnidirectional mobile robot. For the robot, it is considered that the nonlinearity of the dynamic system is mainly dominated by the rotational angle of the robot between the moving and absolute coordinate systems. In order to build the model-based fuzzy servo system, we first choose some representative rotational angles to simplify the nonlinear model to multiple linear models. Then, optimal type-1 and type-2 servo controllers are derived for the rotational control of the mobile robot. The servo gain matrices associated with the controllers are found by using the linear fuzzy models. Finally, we present the results of simulations and show how to use our method to control the omnidirectional mobile robot.

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