Stochastic fuzzy control for an autonomous mobile robot

Jun Tang, Akira Nomiyama, Keigo Watanabe, Naoyoshi Yubazaki

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationProceedings of the IEEE International Conference on Systems, Man and Cybernetics
PublisherIEEE
Pages316-321
Number of pages6
Volume1
Publication statusPublished - 1996
Externally publishedYes
EventProceedings of the 1996 IEEE International Conference on Systems, Man and Cybernetics - Beijing, China
Duration: Oct 14 1996Oct 17 1996

Other

OtherProceedings of the 1996 IEEE International Conference on Systems, Man and Cybernetics
CityBeijing, China
Period10/14/9610/17/96

Fingerprint

Fuzzy control
Mobile robots
Nonlinear systems
Controllers
Poles
Wheels
Computer simulation

ASJC Scopus subject areas

  • Hardware and Architecture
  • Control and Systems Engineering

Cite this

Tang, J., Nomiyama, A., Watanabe, K., & Yubazaki, N. (1996). Stochastic fuzzy control for an autonomous mobile robot. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics (Vol. 1, pp. 316-321). IEEE.

Stochastic fuzzy control for an autonomous mobile robot. / Tang, Jun; Nomiyama, Akira; Watanabe, Keigo; Yubazaki, Naoyoshi.

Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 1 IEEE, 1996. p. 316-321.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Tang, J, Nomiyama, A, Watanabe, K & Yubazaki, N 1996, Stochastic fuzzy control for an autonomous mobile robot. in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. vol. 1, IEEE, pp. 316-321, Proceedings of the 1996 IEEE International Conference on Systems, Man and Cybernetics, Beijing, China, 10/14/96.
Tang J, Nomiyama A, Watanabe K, Yubazaki N. Stochastic fuzzy control for an autonomous mobile robot. In Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 1. IEEE. 1996. p. 316-321
Tang, Jun ; Nomiyama, Akira ; Watanabe, Keigo ; Yubazaki, Naoyoshi. / Stochastic fuzzy control for an autonomous mobile robot. Proceedings of the IEEE International Conference on Systems, Man and Cybernetics. Vol. 1 IEEE, 1996. pp. 316-321
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