ファジィモデルに基づく全方向移動ロボット車の最適サーボ系の構成

概要

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In this article we propose a design method of an optimal servo fuzzy system for an omnidir- ectional mobile robot. For the robot, it is considered that the nonlinearity of the dynamic system is mainly dominated by the rotational angle of the robot between the moving and absolute coordinate systems. In order to build the model-based fuzzy servo system, we first choose some representative rotational angles to simplify the nonlinear model to multiple linear models. Then, optimal type-1 and type-2 servo controllers are derived for the rotational control of the mobile robot. The servo gain matrices associated with the controllers are found by using the linear fuzzy models. Finally, we present the results of simulations and show how to use our method to control the omnidirectional mobile robot.
一般社団法人日本機械学会の論文
1998-10-25