Synthesis of the Two-Level Intelligent Hierarchical Control System of the Mobile Robot

  • E. R. Zeynalov
  • A. S. AliyevaEmail author
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1095)


The actual problems related to the operation of high-quality intelligent control systems under the conditions of autonomy of two-wheeled mobile robots have been investigated in the paper. The synthesis method of the two-level intelligent control system of two-wheeled mobile robot for a dynamic object written by a multiply connected nonlinear model is proposed. According to the proposed method, an algorithmic support of the synthesis problem of a two-level intelligent control system is developed on the bases of fuzzy logic and finite automata. One of the advantages of the proposed in the paper method is to provide the activity of a two-wheel mobile robot, quickly, with high dynamic accuracy and without collision with barriers in the environment of several obstacles.


Two-wheeled mobile robots Intelligent two-level hierarchical control Fuzzy logic T-S controller Finite automata Stateflow 


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Azerbaijan State Oil and Industry UniversityBakuAzerbaijan
  2. 2.Institute of Control Systems of ANASBakuAzerbaijan

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