Stochastic fuzzy control (3rd report, Application to trajectory tracking control of a mobile robot)

Keigo Watanabe, Akira Nomiyama

Research output: Contribution to journalArticle

Abstract

A stochastic fuzzy control is applied for the trajectory tracking control of a mobile robot with two independent driving wheels. In this approach, the fuzzy control system can be realized as a stochastic control. That is, the control system mainly consists of two parts: one is an estimation part which estimates the initial state by using a static fuzzy observer; while the other is a feedback control part consisting of a constant feedback gain and the estimated initial state. When the control object is assumed to be unknown, the control gain can be designed from the viewpoint of a variable structure system (VSS) control theory. On the other hand, when the control object is assumed to be known, the control gain can be easily designed from the viewpoint of a pole assignment. It is also pointed out that uncontrollable state mode data are not necessary for constructing the stochastic fuzzy controllers. The effectiveness of the proposed method is illustrated using computer simulations.

Original languageEnglish
Pages (from-to)1019-1025
Number of pages7
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume62
Issue number595
Publication statusPublished - Mar 1996
Externally publishedYes

Fingerprint

Fuzzy control
Mobile robots
Trajectories
Gain control
Control systems
Control theory
Feedback control
Poles
Wheels
Feedback
Controllers
Computer simulation

ASJC Scopus subject areas

  • Mechanical Engineering

Cite this

@article{92f20e50bab44498a6206d509798650d,
title = "Stochastic fuzzy control (3rd report, Application to trajectory tracking control of a mobile robot)",
abstract = "A stochastic fuzzy control is applied for the trajectory tracking control of a mobile robot with two independent driving wheels. In this approach, the fuzzy control system can be realized as a stochastic control. That is, the control system mainly consists of two parts: one is an estimation part which estimates the initial state by using a static fuzzy observer; while the other is a feedback control part consisting of a constant feedback gain and the estimated initial state. When the control object is assumed to be unknown, the control gain can be designed from the viewpoint of a variable structure system (VSS) control theory. On the other hand, when the control object is assumed to be known, the control gain can be easily designed from the viewpoint of a pole assignment. It is also pointed out that uncontrollable state mode data are not necessary for constructing the stochastic fuzzy controllers. The effectiveness of the proposed method is illustrated using computer simulations.",
author = "Keigo Watanabe and Akira Nomiyama",
year = "1996",
month = "3",
language = "English",
volume = "62",
pages = "1019--1025",
journal = "Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",
issn = "0387-5024",
publisher = "Japan Society of Mechanical Engineers",
number = "595",

}

TY - JOUR

T1 - Stochastic fuzzy control (3rd report, Application to trajectory tracking control of a mobile robot)

AU - Watanabe, Keigo

AU - Nomiyama, Akira

PY - 1996/3

Y1 - 1996/3

N2 - A stochastic fuzzy control is applied for the trajectory tracking control of a mobile robot with two independent driving wheels. In this approach, the fuzzy control system can be realized as a stochastic control. That is, the control system mainly consists of two parts: one is an estimation part which estimates the initial state by using a static fuzzy observer; while the other is a feedback control part consisting of a constant feedback gain and the estimated initial state. When the control object is assumed to be unknown, the control gain can be designed from the viewpoint of a variable structure system (VSS) control theory. On the other hand, when the control object is assumed to be known, the control gain can be easily designed from the viewpoint of a pole assignment. It is also pointed out that uncontrollable state mode data are not necessary for constructing the stochastic fuzzy controllers. The effectiveness of the proposed method is illustrated using computer simulations.

AB - A stochastic fuzzy control is applied for the trajectory tracking control of a mobile robot with two independent driving wheels. In this approach, the fuzzy control system can be realized as a stochastic control. That is, the control system mainly consists of two parts: one is an estimation part which estimates the initial state by using a static fuzzy observer; while the other is a feedback control part consisting of a constant feedback gain and the estimated initial state. When the control object is assumed to be unknown, the control gain can be designed from the viewpoint of a variable structure system (VSS) control theory. On the other hand, when the control object is assumed to be known, the control gain can be easily designed from the viewpoint of a pole assignment. It is also pointed out that uncontrollable state mode data are not necessary for constructing the stochastic fuzzy controllers. The effectiveness of the proposed method is illustrated using computer simulations.

UR - http://www.scopus.com/inward/record.url?scp=0030101030&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0030101030&partnerID=8YFLogxK

M3 - Article

AN - SCOPUS:0030101030

VL - 62

SP - 1019

EP - 1025

JO - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

JF - Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C

SN - 0387-5024

IS - 595

ER -