Stochastic fuzzy control for an autonomous mobile robot

Jun Tang, Akira Nomiyama, Keigo Watanabe, Naoyoshi Yubazaki

Research output: Contribution to journalConference article

2 Citations (Scopus)

Abstract

This paper presents a design method of stochastic fuzzy controller for multi input and output nonlinear systems, in which the fuzzy controller can be designed using a pole assignment without using any conventional fuzzy reasoning. The stochastic fuzzy control method is applied to a nonlinear system of an omnidirectional holonomic mobile robot. The effectiveness of the control scheme is illustrated by numerical simulations for some path tracking problems in the omnidirectional mobile robot with three orthogonal-wheel assemblies.

Original languageEnglish
Pages (from-to)316-321
Number of pages6
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Volume1
Publication statusPublished - Dec 1 1996
Externally publishedYes
EventProceedings of the 1996 IEEE International Conference on Systems, Man and Cybernetics - Beijing, China
Duration: Oct 14 1996Oct 17 1996

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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