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

Keigo Watanabe, Kiyotaka Izumi, Jun Tang, Fuhua Han

Research output: Contribution to journalArticlepeer-review

3 Citations (Scopus)


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 languageEnglish
Pages (from-to)171-189
Number of pages19
JournalAdvanced Robotics
Issue number3
Publication statusPublished - Jan 1 1997
Externally publishedYes

ASJC Scopus subject areas

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


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