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

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5 Author(s)
Ming-Ying Hsiao ; Department of Electrical Engineering, Fortune Institute of Technology, Kaohsiung, Taiwan 83160, R.O.C. ; Shun-Hung Tsai ; Tzuu-Hseng S. Li ; Kai-Shiuan. Shih
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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.

Published in:

Systems, Man and Cybernetics, 2009. SMC 2009. IEEE International Conference on

Date of Conference:

11-14 Oct. 2009