Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Trajectory Tracking Control of Mobile Robot via T-S Fuzzy Modeling

T-S 퍼지 모델링을 통한 이동 로봇의 궤도 추적 제어

  • Hwang, Keun-Woo (Department of Electrical Engineering, Changwon National University) ;
  • Cheon, Seok-Hyo (Department of Electrical Engineering, Changwon National University) ;
  • Park, Seung-Kyu (Department of Electrical Engineering, Changwon National University) ;
  • Yoon, Tae-Sung (Department of Electrical Engineering, Changwon National University)
  • Published : 2011.07.20
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Abstract

In this paper, for the trajectory tracking control of mobile robot, firstly, we obtained the T-S fuzzy models from the tracking-error models, one of which has nonlinear form and the other is linearized around the reference trajectory. Then the tracking control inputs are designed using the proposed fuzzy linearization method and the existed PDC method. Lastly, the tracking performance is tested and compared for each model through simulation.

Keywords