A Trajectory Tracking Control of Wheeled Mobile Robot Using a Model Reference Adaptive Fuzzy Controller

모델참조 적응 퍼지제어기를 이용한 휠베이스 이동 로봇의 궤적 추적 제어

  • 김승우 (순천향대학교 전자정보공학과) ;
  • 서기성 (서경대학교 전자공학과) ;
  • 조영완 (서경대학교 컴퓨터공학과)
  • Published : 2009.07.01


This paper presents a design scheme of torque control for wheeled mobile robot(WMR) to asymptotically track the target reference trajectory. By considering the kinematic model of WMR, trajectory tracking control generates the desired tracking trajectory, which is transformed into the command velocity vector for the real WMR to track the target reference trajectory. The dynamic equation of the state error between the target reference trajectory and the desired tracking trajectory is represented by Takagi-Sugeno fuzzy model, and this model is used as the reference model for the real mobile robot error dynamics to follow. The control parameters are updated by adaptive laws that are designed for the error states of the real WMR to asymptotically follow the states of reference error model for the desired tracking trajectory. The proposed control is applied to a typical wheeled mobile robot and simulation studies are carried out to verify the validity and effectiveness of the control scheme.


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