Hybrid Control for an Autonomous Wheeled Mobile Robot Under Perturbed Torques

Authors:
Leslie Astudillo;Oscar Castillo;Luis T. Aguilar;Ricardo Martínez
Affiliations:
Department of Computer Science, Tijuana Institute of Technology, Tijuana, México;Department of Computer Science, Tijuana Institute of Technology, Tijuana, México;Instituto Politecnico Nacional, 2498 Roll Dr., #757 Otay Mesa, San Diego CA 92154,;Department of Computer Science, Tijuana Institute of Technology, Tijuana, México
Venue:
IFSA '07 Proceedings of the 12th international Fuzzy Systems Association world congress on Foundations of Fuzzy Logic and Soft Computing
Year:
2007

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Abstract

This paper focuses on the control of wheeled mobile robot under bounded torque disturbances. Hybrid tracking controller for the mobile robot was developed by considering its kinematic model and Euler-Lagrange dynamics. The procedure consist in minimizing the stabilization error of the kinematic model through genetic algorithm approach while attenuation to perturbed torques is made through type-2 Fuzzy Logic Control (FLC) via backstepping methodology. Type-2 fuzzy logic is proposed to synthesize the controller for the overall system which is claimed to be a robust tool for related applications. The theoretical results are illustrated through computer simulations of the closed-loop system.