Optimization of interval type-2 fuzzy logic controllers for a perturbed autonomous wheeled mobile robot using genetic algorithms

被引：251

作者：

Martinez, Ricardo ^{[1
]}

Castillo, Oscar ^{[1
]}

Aguilar, Luis T. ^{[2
]}

机构：

[1] Tijuana Inst Technol, Div Grad Studies & Res, Tijuana, Mexico

[2] Ctr Invest Desarrollo Tecnol Digital, Inst Politecn Nacl, San Ysidro 921439016, CA, Mexico

来源：

INFORMATION SCIENCES | 2009年 / 179卷 / 13期

关键词：

Interval type-2 fuzzy logic; Genetic algorithms; Mobile robots; Optimization; Intelligent control; TRACKING CONTROL; SYSTEMS;

D O I：

10.1016/j.ins.2008.12.028

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

We describe a tracking controller for the dynamic model of a unicycle mobile robot by integrating a kinematic and a torque controller based on type-2 fuzzy logic theory and genetic algorithms. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems. (C) 2009 Elsevier Inc. All rights reserved.

引用

页码：2158 / 2174

页数：17

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