The design of internal type-2 fuzzy kinematic control and interval type-2 fuzzy terminal sliding-mode dynamic control of the wheeled mobile robot

  • Authors:

  • Ming-Ying Hsiao;Shun-Hung Tsai;Tzuu-Hseng S. Li;Kai-Shiuan. Shih;Chan-Hong Chao;Chi-Hua Liu

  • Affiliations:

  • Department of Electrical Engineering, Fortune Institute of Technology, Kaohsiung, Taiwan, R.O.C;Graduate Institute of Automation Technology, National Taipei University of Technology, Taipei, Taiwan, R.O.C.;Department of Electrical Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C.;Department of Electrical Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C.;Department of Electrical Engineering, National Cheng Kung University, Tainan, Taiwan, R.O.C.;General Education Center, Fortune Institute of Technology, Kaohsiung, Taiwan, R.O.C.

  • Venue:
  • SMC'09 Proceedings of the 2009 IEEE international conference on Systems, Man and Cybernetics
  • Year:
  • 2009

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Abstract

In this paper, a combined intelligent technique is introduced for the trajectory tracking control of a nonholonomic wheeled mobile robot (WMR), which comprises an interval type- 2 fuzzy kinematic control (IT2-FKC) and an interval type-2 fuzzy terminal sliding-mode dynamic control (IT2-FTSMDC). Firstly, an interval type-2 fuzzy logic controller designed for the kinematic model of the WMR is introduced, and then the IT2- FTSMDC is developed for the dynamic model of the WMR, which is a combination of the interval type-2 fuzzy logic control (IT2-FLC) and the terminal sliding-mode dynamic control (TSMDC). The validity of the proposed method is demonstrated via computer simulations. The simulation results show that the tracking performance of the IT2-FTSMDC is better than that of the FTSMDC.