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Hybrid Control for an Autonomous Wheeled Mobile Robot Under Perturbed Torques

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Foundations of Fuzzy Logic and Soft Computing (IFSA 2007)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 4529))

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Abstract

This paper focuses on the control of wheeled mobile robot under bounded torque disturbances. Hybrid tracking controller for the mobile robot was developed by considering its kinematic model and Euler-Lagrange dynamics. The procedure consist in minimizing the stabilization error of the kinematic model through genetic algorithm approach while attenuation to perturbed torques is made through type-2 Fuzzy Logic Control (FLC) via backstepping methodology. Type-2 fuzzy logic is proposed to synthesize the controller for the overall system which is claimed to be a robust tool for related applications. The theoretical results are illustrated through computer simulations of the closed-loop system.

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Author information

Authors and Affiliations

  1. Department of Computer Science, Tijuana Institute of Technology, Tijuana, México

    Leslie Astudillo, Oscar Castillo & Ricardo Martínez

  2. Instituto Politecnico Nacional, 2498 Roll Dr., #757 Otay Mesa, San Diego CA 92154,  

    Luis T. Aguilar

Authors
  1. Leslie Astudillo
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  2. Oscar Castillo
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  3. Luis T. Aguilar
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  4. Ricardo Martínez
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Editor information

Patricia Melin Oscar Castillo Luis T. Aguilar Janusz Kacprzyk Witold Pedrycz

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© 2007 Springer Berlin Heidelberg

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Astudillo, L., Castillo, O., Aguilar, L.T., Martínez, R. (2007). Hybrid Control for an Autonomous Wheeled Mobile Robot Under Perturbed Torques. In: Melin, P., Castillo, O., Aguilar, L.T., Kacprzyk, J., Pedrycz, W. (eds) Foundations of Fuzzy Logic and Soft Computing. IFSA 2007. Lecture Notes in Computer Science(), vol 4529. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-72950-1_59

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  • DOI: https://doi.org/10.1007/978-3-540-72950-1_59

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-72917-4

  • Online ISBN: 978-3-540-72950-1

  • eBook Packages: Computer ScienceComputer Science (R0)

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