Switching fuzzy tracking control for mobile robots under curvature constraints

Moustris, GP; Tzafestas, SG

dc.contributor.author	Moustris, GP	en
dc.contributor.author	Tzafestas, SG	en
dc.date.accessioned	2014-03-01T01:37:11Z
dc.date.available	2014-03-01T01:37:11Z
dc.date.issued	2011	en
dc.identifier.issn	0967-0661	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/21476
dc.subject	Fuzzy logic	en
dc.subject	Impulsive systems	en
dc.subject	Non-holonomic mobile robots	en
dc.subject	Path tracking	en
dc.subject	Strip-wise affine map	en
dc.subject	Switching control	en
dc.subject.classification	Automation & Control Systems	en
dc.subject.classification	Engineering, Electrical & Electronic	en
dc.subject.other	Impulsive systems	en
dc.subject.other	Non-holonomic mobile robots	en
dc.subject.other	Path tracking	en
dc.subject.other	Strip-wise affine map	en
dc.subject.other	Switching control	en
dc.subject.other	Controllers	en
dc.subject.other	Fuzzy systems	en
dc.subject.other	Mobile robots	en
dc.subject.other	Switching	en
dc.subject.other	Switching systems	en
dc.subject.other	Fuzzy logic	en
dc.title	Switching fuzzy tracking control for mobile robots under curvature constraints	en
heal.type	journalArticle	en
heal.identifier.primary	10.1016/j.conengprac.2010.08.008	en
heal.identifier.secondary	http://dx.doi.org/10.1016/j.conengprac.2010.08.008	en
heal.language	English	en
heal.publicationDate	2011	en
heal.abstract	In this paper a switching fuzzy logic controller for mobile robots with a bounded curvature constraint is presented. The controller tracks piece-wise linear paths, which are an approximation of the feasible smooth reference path. The controller is constructed through the use of a map, which transforms the problem to a simpler one; namely the tracking of straight lines. This allows the use of an existing fuzzy tracker deployed in a previous work, and its simplification leading to a 70% rule reduction. Simulation results and a comparison analysis with existing trackers are also presented along with some stability considerations on the impulsive error dynamics which emerge. (C) 2010 Elsevier Ltd. All rights reserved.	en
heal.publisher	PERGAMON-ELSEVIER SCIENCE LTD	en
heal.journalName	Control Engineering Practice	en
dc.identifier.doi	10.1016/j.conengprac.2010.08.008	en
dc.identifier.isi	ISI:000285221500005	en
dc.identifier.volume	19	en
dc.identifier.issue	1	en
dc.identifier.spage	45	en
dc.identifier.epage	53	en