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 language | English |
|---|---|
| Title of host publication | Proceedings of the Japan/USA Symposium on Flexible Automation |
| Editors | K. Stelson, F. Oba |
| Pages | 615-622 |
| Number of pages | 8 |
| Volume | 1 |
| Publication status | Published - 1996 |
| Externally published | Yes |
| Event | Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) - Boston, MA, USA Duration: Jul 7 1996 → Jul 10 1996 |
Other
| Other | Proceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) |
|---|---|
| City | Boston, MA, USA |
| Period | 7/7/96 → 7/10/96 |
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ASJC Scopus subject areas
- Engineering(all)
Cite this
Stochastic fuzzy control law for path tracking in mobile robot. / Tang, Jun; Nomiyama, Akira; Watanabe, Keigo.
Proceedings of the Japan/USA Symposium on Flexible Automation. ed. / K. Stelson; F. Oba. Vol. 1 1996. p. 615-622.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Stochastic fuzzy control law for path tracking in mobile robot
AU - Tang, Jun
AU - Nomiyama, Akira
AU - Watanabe, Keigo
PY - 1996
Y1 - 1996
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0030414485&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0030414485&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0030414485
VL - 1
SP - 615
EP - 622
BT - Proceedings of the Japan/USA Symposium on Flexible Automation
A2 - Stelson, K.
A2 - Oba, F.
ER -