Nonlinear Adaptive Fuzzy Control Design for Wheeled Mobile Robots with Using the Skew Symmetrical Property

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 ...

Interval Type-2 Adaptive Fuzzy Sliding-Mode Dynamic Control Design for Wheeled Mobile Robots

The fuzzy logic control (FLC) has been successfully applied in diverse fields since Zadeh [8] first introduced the fuzzy set theory. Basically, one of the most widely adopted FLCs is the fuzzy-rule-based-system, the Mamdani FLC, which is based on human expertise and knowledge, so that precise and accurate descriptions of the mathematical model of the controlled plant are not required for design...

Nonlinear Control Of Wheeled Mobile Robots

Dynamical formation control of wheeled mobile robots based on fuzzy logic

In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...

Nonlinear Adaptive Fuzzy Control for Hydraulic Robots

In this paper, a novel adaptive fuzzy controller (AFC) is proposed to deal with the control problem of a parallel robot consisting of a Stewart platform and hydraulic actuators. Specifically, only two signals are measured from the robot system, namely, the leg displacements through Linear Variable Differential Transformer (LVDT) and the current change with Hall sensor. To cope with the difficul...