Abstract
This paper addresses an adaptive fuzzy path following control scheme for mobile robots with model uncertainty. In this scheme, the fuzzy logic system is used to approximate the uncertainty function of the controller, the parameters in fuzzy logic system are adjusted by time-varying dead-zone which its size is adjusted adaptively. The proposed design scheme guarantees that the tracking error converges to a small neighborhood of the origin. A simulation example is given to demonstrate the effectiveness of the proposed scheme.
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Zhou, Y., Shi, Wx., Zhang, M., Guo, Lj., Guo, Wc. (2011). Adaptive Fuzzy Path Following Control for Mobile Robots with Model Uncertainty. In: Qi, L. (eds) Information and Automation. ISIA 2010. Communications in Computer and Information Science, vol 86. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-19853-3_9
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DOI: https://doi.org/10.1007/978-3-642-19853-3_9
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-19852-6
Online ISBN: 978-3-642-19853-3
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