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Tracking Control of a Nonholonomic Mobile Robot Using a Fuzzy-Based Approach

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Fuzzy Systems and Knowledge Discovery (FSKD 2006)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 4223))

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Abstract

This paper investigates the tracking problem of nonholonomic mobile robots. A control structure combining a kinematic controller and a dynamic controller based on nonlinear feedback control plus fuzzy compensator is presented. The fuzzy compensator, whose parameters are tuned on-line, is employed to approximate the total uncertainty including the structured and unstructured uncertainties due to the universal approximation property of fuzzy logic systems. The stability of the proposed approach is guaranteed by the Lyapunov theory. Simulation results show the efficiency of the proposed approach.

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Author information

Authors and Affiliations

  1. Laboratory of Complex Systems and Intelligence Science, Institute of Automation, The Chinese Academy of Sciences, P.O. Box 2728, Beijing, 100080, China

    An-Min Zou, Zeng-Guang Hou, Min Tan & Zeng-Shun Zhao

Authors
  1. An-Min Zou
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  2. Zeng-Guang Hou
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  3. Min Tan
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  4. Zeng-Shun Zhao
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Editor information

Editors and Affiliations

  1. School of Electrical and Electronic Engineering, Nanyang Technological University,, Block S1, Nanyang Avenue, 639798, Singapore

    Lipo Wang

  2. Life Science Research Center, School of Electronic Engineering, Xidian University,, 710071, Xi’an, Shaanxi, China

    Licheng Jiao

  3. School of Electrical and Electronic Engineering, Xidian University, 710071, Xi’an, China

    Guanming Shi

  4. School of Information Technology and Electrical Engineering, The University of Queensland, 4072, Brisbane, Queensland, Australia

    Xue Li

  5. College of Mathematics and Information Science, Hebei Normal University, 050016, Shijiazhuang, Hebei, P.R. China

    Jing Liu

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© 2006 Springer-Verlag Berlin Heidelberg

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Zou, AM., Hou, ZG., Tan, M., Zhao, ZS. (2006). Tracking Control of a Nonholonomic Mobile Robot Using a Fuzzy-Based Approach. In: Wang, L., Jiao, L., Shi, G., Li, X., Liu, J. (eds) Fuzzy Systems and Knowledge Discovery. FSKD 2006. Lecture Notes in Computer Science(), vol 4223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11881599_102

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  • DOI: https://doi.org/10.1007/11881599_102

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-45916-3

  • Online ISBN: 978-3-540-45917-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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