آمار

تعداد نشریات11
تعداد شماره‌ها226
تعداد مقالات2,285
تعداد مشاهده مقاله3,519,809
تعداد دریافت فایل اصل مقاله2,580,413
Falsafi, Mohammad, Alipour, Khalil, Tarvirdizadeh, Bahram. (1397). Fuzzy motion control for wheeled mobile robots in real-time. فناوری آموزش, 8(2), 133-144. doi: 10.22061/jcarme.2018.2204.1205
Mohammad Falsafi; Khalil Alipour; Bahram Tarvirdizadeh. "Fuzzy motion control for wheeled mobile robots in real-time". فناوری آموزش, 8, 2, 1397, 133-144. doi: 10.22061/jcarme.2018.2204.1205
Falsafi, Mohammad, Alipour, Khalil, Tarvirdizadeh, Bahram. (1397). 'Fuzzy motion control for wheeled mobile robots in real-time', فناوری آموزش, 8(2), pp. 133-144. doi: 10.22061/jcarme.2018.2204.1205
Falsafi, Mohammad, Alipour, Khalil, Tarvirdizadeh, Bahram. Fuzzy motion control for wheeled mobile robots in real-time. فناوری آموزش, 1397; 8(2): 133-144. doi: 10.22061/jcarme.2018.2204.1205

Fuzzy motion control for wheeled mobile robots in real-time

Journal of Computational & Applied Research in Mechanical Engineering (JCARME)
مقاله 2، دوره 8، شماره 2 - شماره پیاپی 16، فروردین 2019، صفحه 133-144    اصل مقاله (1.7 M)
نوع مقاله: Research Paper
شناسه دیجیتال (DOI): 10.22061/jcarme.2018.2204.1205
نویسندگان
Mohammad Falsafi1؛ Khalil Alipour* 2؛ Bahram Tarvirdizadeh3
1Department of Mechatronics Eng., Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran
2Department of Mechatronics Eng., Faculty of New Sciences and Technologies, University of Tehran
3Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran
تاریخ دریافت: 22 دی 1395،  تاریخ بازنگری: 11 مرداد 1397،  تاریخ پذیرش: 14 مرداد 1397 
چکیده
Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and also, computer simulation of the system, first the system model is derived at the level of kinematics. The system model is nonholonomic. Then a simple non-mode-based controller based on fuzzy logic will be proposed. The control input resulted from fuzzy logic will then be corrected to fulfill the actuation saturation limits and non-slipping condition. To prove the efficiency of the suggested controller, its response, in terms of the required computational time burden and tracking error, will be compared with a previously suggested method. The obtained simulation results support the superiority of fuzzy based method over a previous study in terms of the considered measures.
کلیدواژه‌ها
Wheeled mobile robot؛ Motion control؛ Fuzzy logic؛ Predictive control
مراجع
[1] L. Bruzzone, and Quaglia Giuseppe, "Locomotion systems for ground mobile robots in unstructured environments." Mechanical Sciences Vol. 3, No. 2, pp. 49-62, (2012).

[2] Gregor Klančar, and Igor Škrjanc. "Tracking-error model-based predictive control for mobile robots in real time." Robotics and Autonomous Systems, Vol. 55, No. 6, pp.460-469, (2007).

[3] Tian Yu, and Nilanjan Sarkar, "Control of a mobile robot subject to wheel slip." Journal of Intelligent & Robotic Systems, Vol. 74, No. 3-4, pp. 915-929, (2014).

[4] Hadi Amoozgar Mohammad, Khalil Alipour, and Seyed Hossein Sadati, "A fuzzy logic-based formation controller for wheeled mobile robots." Industrial Robot: An International Journal, Vol. 38, No. 3 pp. 269-281, (2011).

[5] Khalil Alipour, and S. Ali A. Moosavian, "Dynamically stable motion planning of wheeled robots for heavy object manipulation." Advanced Robotics, Vol. 29, No. 8, pp. 545-560, (2015).

[6] Kevin M. Lynch, and C. Park Frank, Modern Robotics: Mechanics, Planning, and Control, Cambridge University Press, (2017).

[7] Anthony M. Bloch, Mahmut Reyhanoglu, and N. Harris McClamroch, "Control and stabilization of nonholonomic dynamic systems." IEEE Transactions on Automatic control, Vol. 37, No. 11, pp. 1746-1757, (1992).

[8] Astolfi, Alessandro, "Discontinuous control of nonholonomic systems." Systems & control letters, Vol. 27, No. 1 pp. 37-45, (1996).

[9] Farzad Pourboghrat, "Exponential stabilization of nonholonomic mobile robots." Computers & Electrical Engineering, Vol. 28, No. 5, pp. 349-359, (2002).

[10] Dong Wenjie, W. Liang Xu, and Wei Huo, "Trajectory tracking control of dynamic non-holonomic systems with unknown dynamics." International Journal of Robust and Nonlinear Control, Vol. 9, No. 13, pp. 905-922, (1999).

[11] Ge Shuzhi Sam, J. Wang, Tong Heng Lee, and G. Y. Zhou, "Adaptive robust stabilization of dynamic nonholonomic chained systems." Journal of Field Robotics, Vol. 18, No. 3, pp. 119-133, (2001).

[12] Kim, Min-Soeng, Jin-Ho Shin, Sun-Gi Hong, and Ju-Jang Lee, "Designing a robust adaptive dynamic controller for nonholonomic mobile robots under modeling uncertainty and disturbances." Mechatronics, Vol. 13, No. 5, pp. 507-519, (2003).

[13] Dong Wenjie, and K-D. Kuhnert, "Robust adaptive control of nonholonomic mobile robot with parameter and nonparameter uncertainties." IEEE Transactions on Robotics, Vol. 21, No. 2, pp. 261-266, (2005).

[14] B. L. Ma, and S. K. Tso, "Robust discontinuous exponential regulation of dynamic nonholonomic wheeled mobile robots with parameter uncertainties." International Journal of Robust and Nonlinear Control, Vol. 18, No. 9, pp. 960-974, (2008).

[15] Markus Mauder, "Robust tracking control of nonholonomic dynamic systems with application to the bi-steerable mobile robot," Automatica, Vol. 44, No. 10, pp. 2588-2592, (2008).

[16] Chih-Yang Chen, S. Li, Tzuu-Hseng, Ying-Chieh Yeh, and Cha-Cheng Chang, "Design and implementation of an adaptive sliding-mode dynamic controller for wheeled mobile robots." Mechatronics, Vol. 19, No. 2 pp.156-166, (2009).

[17] Asghar Khanpoor, Ali Keymasi Khalaji, and S. Ali A. Moosavian "Modeling and control of an underactuated tractor–trailer wheeled mobile robot." Robotica, pp. 35-12, pp. 2297-2318, (2017).

[18] Ali Keymasi Khalaji, and S. Ali A. Moosavian."Switching control of a tractor-trailer wheeled robot."  International Journal of Robotics and Automation, Vol. 30, No. 2 (2015).

[19] Ali Keymasi Khalaji, and S. Ali A. Moosavian, "Modified transpose Jacobian control of a tractor-trailer wheeled robot." Journal of Mechanical Science and Technology, Vol. 29, No. 9, pp. 3961-3969, (2015).

[20] Ebrahim H. Mamdani, and Sedrak Assilian, "An experiment in linguistic synthesis with a fuzzy logic controller." International journal of man-machine studies, Vol. 7, No. 1, pp. 1-13, (1975).

آمار
تعداد مشاهده مقاله: 1,579
تعداد دریافت فایل اصل مقاله: 1,780


سامانه مدیریت نشریات علمی. طراحی و پیاده سازی از سیناوب