Design of optimal Mamdani-type fuzzy controller for nonholonomic wheeled mobile robots

Design and Implementation of an Adaptive Neuro-controller for Trajectory Tracking of Nonholonomic Wheeled Mobile Robots

A kinematic adaptive neuro-controller for trajectory tracking of nonholonomic mobile robots is proposed. The kinematic adaptive neuro-controller is a real-time, unsupervised neural network that learns to control a nonholonomic mobile robot in a nonstationary environment, which is termed Self-Organization Direction Mapping Network (SODMN), and combines associative learning and Vector Associative...

Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...

Fuzzy Controller Designed by GA for Two-wheeled Mobile Robots

A GA-based fuzzy controller design method is proposed for a two-wheeled mobile robot to independently control two velocities of its left-wheeled motor and right-wheeled motor so that the controlled robot can move fast and efficiently to the desired position. First, the kinematics model of the considered two-wheeled robot is described and a 4-input-and-2-output motion fuzzy control structure wit...

Non-Singular Terminal Sliding Mode Control of a Nonholonomic Wheeled Mobile Robots Using Fuzzy Based Tyre Force Estimator

This paper, proposes a methodology to implement a suitable nonsingular terminal sliding mode controller associated with the output feedback control to achieve a successful trajectory tracking of a non-holonomic wheeled mobile robot in presence of longitudinal and lateral slip accompanied. This implementation offers a relatively faster and high precision tracking performance. We investigate this...

Optimal Trajectories for Nonholonomic Mobile Robots