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

被引：59

作者：

Nazari Maryam Abadi, Davood ^{[1
]}

Khooban, Mohammad Hassan ^{[1
,2
]}

机构：

[1] Department of Electrical and Robotic Engineering, Garmsar Branch, Islamic Azad University of Iran, Garmsar

[2] Iranian Space Agency, Iranian Space Research Center, Mechanic Institute, Shiraz

来源：

Journal of King Saud University - Engineering Sciences | 2015年 / 27卷 / 01期

关键词：

Fuzzy controller; Nonholonomic wheeled mobile robot (WMR); Particle Swarm Optimization (PSO);

D O I：

10.1016/j.jksues.2013.05.003

中图分类号：

学科分类号：

摘要：

In this paper, in order to cope with both parametric and nonparametric uncertainties in the robot model, an optimal Mamdani-type fuzzy logic controller is introduced for trajectory tracking of wheeled mobile robots (WMRs). The dynamic model of a nonholonomic mobile robot was implemented in the Matlab/Simulink environment. The parameters of input and output membership functions, and PID controller coefficients are optimized simultaneously by random inertia weight Particle Swarm Optimization (RNW-PSO). Simulation results show the system performance is desirable. © 2013

引用

页码：92 / 100

页数：8

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