Stochastic Fuzzy Control (5th Report, Dynamic Fuzzy Servo System and Its Application to an Omnidirectional Mobile Robot)

Keigo Watanabe, Akira Nomiyama, Kiyotaka Izumi, Fuhua Han

Research output: Contribution to journalArticle

Abstract

A fuzzy servo system is described for a system with noises by using a stochastic fuzzy control method with some dynamic linear models. The present fuzzy servo approach is applied to the control problem of rotational angle for an omnidirectional mobile robot with three orthogonal-wheel assemblies. For the dynamic linear system with system and measurement noises, the optimal type- 1 servo system is first derived by applying the estimate of Kalman filter. Next, a multiple model servo system is considered under the hyposeses on the uncertainties of initial state and input distribution matrix. Furthermore, a stochastic fuzzy servo system taking account of dynamic models is derived by introducing the equality distribution on each multiple model. Finally, the stochastic fuzzy servo method and its modified method with a static evaluation on the model confidence are demonstrated through some simulations for the mobile robot.

Original languageEnglish
Pages (from-to)3621-3628
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume65
Issue number637
DOIs
Publication statusPublished - 1999
Externally publishedYes

Fingerprint

Servomechanisms
Fuzzy control
Mobile robots
Kalman filters
Linear systems
Dynamic models
Wheels

Keywords

  • Dynamic Model
  • Fuzzy Control
  • Fuzzy Model
  • Fuzzy Set Theory
  • Multiple Model
  • Omnidirectional Mobile Robot
  • Optimal Servo Control
  • Stochastic Control

ASJC Scopus subject areas

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

Cite this

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title = "Stochastic Fuzzy Control (5th Report, Dynamic Fuzzy Servo System and Its Application to an Omnidirectional Mobile Robot)",
abstract = "A fuzzy servo system is described for a system with noises by using a stochastic fuzzy control method with some dynamic linear models. The present fuzzy servo approach is applied to the control problem of rotational angle for an omnidirectional mobile robot with three orthogonal-wheel assemblies. For the dynamic linear system with system and measurement noises, the optimal type- 1 servo system is first derived by applying the estimate of Kalman filter. Next, a multiple model servo system is considered under the hyposeses on the uncertainties of initial state and input distribution matrix. Furthermore, a stochastic fuzzy servo system taking account of dynamic models is derived by introducing the equality distribution on each multiple model. Finally, the stochastic fuzzy servo method and its modified method with a static evaluation on the model confidence are demonstrated through some simulations for the mobile robot.",
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AU - Han, Fuhua

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