It is known that the equation of motions for an omnidirectional mobile robot is nonlinear with respect to the rotational angle between the moving and absolute coordinate systems. In this paper, a fuzzy model approach is applied to the control of a time-varying rotational angle, in which multiple linear models are obtained by utilizing the original nonlinear model in some representative angles and they are used to derive the optimal type 2 servo gain matriees. The effectiveness of the proposed method is illustrated by giving some simulations for the trajectory tracking control problem.
|Number of pages||19|
|Publication status||Published - 1998|
ASJC Scopus subject areas
- Control and Systems Engineering