Optimal design of type-2 and type-1 fuzzy tracking controllers for autonomous mobile robots under perturbed torques using a new chemical optimization paradigm

Authors:
Patricia Melin;Leslie Astudillo;Oscar Castillo;Fevrier Valdez;Mario Garcia
Affiliations:
Tijuana Institute of Technology, Tijuana, Mexico;Tijuana Institute of Technology, Tijuana, Mexico;Tijuana Institute of Technology, Tijuana, Mexico;Tijuana Institute of Technology, Tijuana, Mexico;Tijuana Institute of Technology, Tijuana, Mexico
Venue:
Expert Systems with Applications: An International Journal
Year:
2013

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Abstract

This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application.