A New Type-3 Fuzzy Predictive Approach for Mobile Robots

被引：14

作者：

Hua, Guoxin ^{[1
]}

Wang, Fei ^{[1
]}

Zhang, Jianhui ^{[2
]}

Alattas, Khalid A. ^{[3
]}

Mohammadzadeh, Ardashir ^{[4
]}

Vu, Mai The ^{[5
]}

机构：

[1] Zhejiang Guangsha Vocat & Tech Univ Construct, Sch Intelligent Mfg, Dongyang 322100, Peoples R China

[2] Hangzhou Dianzi Univ, Sch Mech Engn, Hangzhou 310018, Peoples R China

[3] Univ Jeddah, Coll Comp Sci & Engn, Dept Comp Sci & Artificial Intelligence, Jeddah 23890, Saudi Arabia

[4] Shenyang Univ Technol, Multidisciplinary Ctr Infrastruct Engn, Shenyang 110870, Peoples R China

[5] Sejong Univ, Sch Intelligent Mechatron Engn, Seoul 05006, South Korea

来源：

MATHEMATICS | 2022年 / 10卷 / 17期

关键词：

type-3; fuzzy; mobile robots; adaptive control; trajectory following; machine learning; LOGIC; TRACKING; SYSTEM;

D O I：

10.3390/math10173186

中图分类号：

O1 [数学];

学科分类号：

0701 ; 070101 ;

摘要：

Wheeled mobile robots are widely used for their excellent mobility and high maneuverability. The intelligentization of mobile robots to perform autonomous movement is one of the favorite topics in the robotic field. This paper proposes a new intelligent path-following scheme for mobile robots. A secure path is designed by the chaotic systems and an unknown switching mechanism. The proposed controller is constructed by the type-3 (T3) fuzzy logic systems (FLSs) and a predictive compensator. The T3-FLSs are taught to obtain good accuracy. In addition, the stability is mathematically investigated and guaranteed by the designed compensator. The simulations show that the case-study robot follows the planned secure path well and resists uncertainties.

引用

页数：16

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