Rotational control of an omnidirectional mobile robot using a fuzzy servo controller

Keigo Watanabe; Kiyotaka Izumi; Jun Tang; Fuhua Han

doi:10.1163/156855398X00136

Rotational control of an omnidirectional mobile robot using a fuzzy servo controller

Keigo Watanabe, Kiyotaka Izumi, Jun Tang, Fuhua Han

Research output: Contribution to journal › Article › peer-review

Abstract

It is known that the equation of motions for an omnidirectional mobile robot is nonlinear with respect to the rotational angle between the moving and absolute coordinate systems. In this paper, a fuzzy model approach is applied to the control of a time-varying rotational angle, in whichmultiple linear models are obtained by utilizing the original nonlinear model in some representative angles and they are used to derive the optimal type 2 servo gain matrices. The effectiveness of the proposed method is illustrated by giving some simulations for the trajectory tracking controlproblem.

Original language	English
Pages (from-to)	171-189
Number of pages	19
Journal	Advanced Robotics
Volume	12
Issue number	3
DOIs	https://doi.org/10.1163/156855398X00136
Publication status	Published - Jan 1 1997
Externally published	Yes

ASJC Scopus subject areas

Software
Control and Systems Engineering
Human-Computer Interaction
Hardware and Architecture
Computer Science Applications

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Rotational control of an omnidirectional mobile robot using a fuzzy servo controller

Abstract

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