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Control of an omnidirectional spherical mobile robot using an adaptive Mamdani-type fuzzy control strategy

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Abstract

In this study, a supervisory control system with an adaptive Mamdani-type fuzzy controller (AMFC) is used to control an omnidirectional spherical mobile robot (ODSMR). The system combines an adaptive Mamdani-type fuzzy controller and a supervisory controller for ODSMRs with unknown external disturbances. Tracking is provided by a Mamdani-type fuzzy controller that approximates a theoretically exact control law, and a separate controller is used to cancel the residual of the approximation error. The control law is derived using Lyapunov stability theory to ensure the stability of the closed-loop system. Many external factors can cause the system to become unstable, so a supervisory controller is included. A decoupled control approach provides a simple method to achieve asymptotic stability for a fourth-order nonlinear system. The main concept of this approach is to decouple the system into two subsystems. Then, the primary subsystem combines the information provided by the secondary subsystem to generate a control that drives both subsystems to their desired states. This platform can move in any direction with no constraints. The efficiency of the proposed controller is verified with tests on an actual robot. The contributions of this study are: (1) the implementation of an ODSMR and (2) the application of the proposed AMFC with a supervisory control system to real-time control of the ODSMR.

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Authors and Affiliations

  1. Department of Communications, Navigation and Control Engineering, National Taiwan Ocean University, Keelung City, 20224, Taiwan, ROC

    Chih-Hui Chiu

  2. Department of Electrical Engineering, Yuan-Ze University, Chung-Li, Tao-Yuan, 320, Taiwan, ROC

    Chieh-Min Lin

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  1. Chih-Hui Chiu
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  2. Chieh-Min Lin
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Correspondence to Chih-Hui Chiu.

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Chiu, CH., Lin, CM. Control of an omnidirectional spherical mobile robot using an adaptive Mamdani-type fuzzy control strategy. Neural Comput & Applic 30, 1303–1315 (2018). https://doi.org/10.1007/s00521-016-2769-7

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  • DOI: https://doi.org/10.1007/s00521-016-2769-7

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