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A self-paced fuzzy tracking controller for two-dimensional motion control

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2 Author(s)
Huang, L.-J. ; Dept. of Mech. Eng., California Univ., Berkeley, CA, USA ; Tomizuka, M.

A heuristic controller is presented that takes the form of a set of fuzzy linguistic rules. Simulations show that the fuzzy logic controller (FLC) yields better results than the conventional PD controller. A self-paced fuzzy tracking controller (SPFTC) designed for two-dimensional path tracking is also presented. The SPFTC adjusts the tracking speed in accordance with contour conditions such as curvature; the fuzzy-rule-based adjustment of the tracking speed improves performance in terms of tracking precision and travel time. Advantages of the FLC and SPFTC are demonstrated by a simulation study

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:20 ,  Issue: 5 )