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Tracking Control for a Unicycle Mobile Robot Using a Fuzzy Logic Controller

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Book cover Hybrid Intelligent Systems

Part of the book series: Studies in Fuzziness and Soft Computing ((STUDFUZZ,volume 208))

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Abstract

We develop a tracking controller for the dynamic model of unicycle mobile robot by integrating a kinematic controller and a torque controller based on Fuzzy Logic Theory. Computer simulations are presented confirming the performance of the tracking controller and its application to different navigation problems.

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Author information

Authors and Affiliations

  1. Clzd. Tecnológico S/N, Instituto Tecnológico de Tijuana, Tijuana, B. C., C. P. 22379, México

    Selene L. Cárdenas, Oscar Castillo & Nohé Cázarez

  2. CITEDI-IPN, 2498 Roll Dr. # 757 Otay Mesa, San Diego, CA, 92154, USA

    Luis T. Aguilar

Authors
  1. Selene L. Cárdenas
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  2. Oscar Castillo
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  3. Luis T. Aguilar
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  4. Nohé Cázarez
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Tijuana Institute of Technology, Tijuana, Mexico

    Oscar Castillo

  2. Department of Computer Science, Tijuana Institute of Technology, 4207, Chula Vista, CA, 91909, USA

    Patricia Melin

  3. Polish Academy of Sciences, Systems Research Institute, Newelska 6, Warszawa, 01-447, Poland

    Janusz Kacprzyk

  4. Department of Electrical and Computer Engineering, University of Alberta, Edmonton, Alberta, T6J 2V4, Canada

    Witold Pedrycz

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© 2007 Springer

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Cárdenas, S.L., Castillo, O., Aguilar, L.T., Cázarez, N. (2007). Tracking Control for a Unicycle Mobile Robot Using a Fuzzy Logic Controller. In: Castillo, O., Melin, P., Kacprzyk, J., Pedrycz, W. (eds) Hybrid Intelligent Systems. Studies in Fuzziness and Soft Computing, vol 208. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-37421-3_15

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  • DOI: https://doi.org/10.1007/978-3-540-37421-3_15

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-37419-0

  • Online ISBN: 978-3-540-37421-3

  • eBook Packages: EngineeringEngineering (R0)

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