Stochastic fuzzy control law for path tracking in mobile robot

Jun Tang, Akira Nomiyama, Keigo Watanabe

Research output: Chapter in Book/Report/Conference proceedingChapter

1 Citation (Scopus)

Abstract

This paper presents a new method to design a fuzzy controller, called `stochastic fuzzy control', instead of using traditional fuzzy reasoning, and describes the application of this method in controlling a mobile robot driven by two independent wheels. The stochastic fuzzy controller mainly consists of two parts, the observer that estimates the initial state and the feedback controller. Using this scheme, the fuzzy control system can be realized as an optimal stochastic control which ensures the stability of the control system. Two design methods are considered: one assumes that the control object is completely known, the other assumes that the control object includes some unknown parameters. We design the reference trajectories of straight line and circular path in accordance with the practical applications for the mobile robot, in which three patterns of the speed are adopted. The effectiveness of the proposed method is demonstrated by a series of practical tests on our experimental mobile robot.

Original languageEnglish
Title of host publicationProceedings of the Japan/USA Symposium on Flexible Automation
EditorsK. Stelson, F. Oba
Pages615-622
Number of pages8
Publication statusPublished - Dec 1 1996
Externally publishedYes
EventProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) - Boston, MA, USA
Duration: Jul 7 1996Jul 10 1996

Publication series

NameProceedings of the Japan/USA Symposium on Flexible Automation
Volume1

Other

OtherProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2)
CityBoston, MA, USA
Period7/7/967/10/96

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Tang, J., Nomiyama, A., & Watanabe, K. (1996). Stochastic fuzzy control law for path tracking in mobile robot. In K. Stelson, & F. Oba (Eds.), Proceedings of the Japan/USA Symposium on Flexible Automation (pp. 615-622). (Proceedings of the Japan/USA Symposium on Flexible Automation; Vol. 1).