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A Type-2 Fuzzy Cascade Control Architecture for Mobile Robots

Kumbasar, Tufan and Hagras, Hani (2013) A Type-2 Fuzzy Cascade Control Architecture for Mobile Robots. In: 2013 IEEE International Conference on Systems, Man and Cybernetics (SMC 2013), 2013-10-13 - 2013-10-16.

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Abstract

The real-time path tracking control of mobile robots attracted considerable research interest since they inherit nonholonomic properties and uncertainties caused by the internal dynamics and/or feedback sensors. In this paper, we will propose a cascade control architecture, which includes the inner and outer control loops, for the path tracking control of mobile robots. In the proposed mobile robot cascade structure, interval type-2 fuzzy PID controllers are implemented as the outer and inner loop controllers to achieve a satisfactory tracking performance in presence of uncertainties. In this context, we will present a simple two stage mobile robot cascade design strategy. We will present real-time control experiments performed on the PIONEER 3-DX mobile robot to show the efficiency and the superior tracking performance of the type-2 fuzzy cascade control architecture in comparison with its conventional PID and type-1 fuzzy controllers counterparts in presence of uncertainties. © 2013 IEEE.

Item Type: Conference or Workshop Item (Paper)
Additional Information: Published proceedings: Proceedings - 2013 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2013
Uncontrolled Keywords: type-2 fuzzy logic systems; mobile robots; path tracking
Subjects: Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Divisions: Faculty of Science and Health
Faculty of Science and Health > Computer Science and Electronic Engineering, School of
SWORD Depositor: Elements
Depositing User: Elements
Date Deposited: 08 Jan 2015 17:09
Last Modified: 15 Jan 2022 00:37
URI: http://repository.essex.ac.uk/id/eprint/12205

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