{"title":"基于变模糊话语域的差动驱动移动机器人控制","authors":"S. Nurmaini, Chusniah","doi":"10.1109/ICECOS.2017.8167165","DOIUrl":null,"url":null,"abstract":"The fuzzy logic controller with universe of discourses for a nonholonomic mobile robot has been presented in this paper. The mobile robot kinematic and dynamics equations are developed based on Lagrangian, and Newton-Euler approach. The fuzzy logic controller with dynamic universe of discourse is applied to control the posture and torque of mobile robot in unknown environment. The result shows that the posture and torque of mobile robot can be control and produce good performance to force steady state error close to zero with position error about ex(t) = 0.026129, and ey(t) = 0,04387, orientation error abouteθ(t) =0,223065.","PeriodicalId":6528,"journal":{"name":"2017 International Conference on Electrical Engineering and Computer Science (ICECOS)","volume":"118 1","pages":"50-55"},"PeriodicalIF":0.0000,"publicationDate":"2017-08-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"7","resultStr":"{\"title\":\"Differential drive mobile robot control using variable fuzzy universe of discourse\",\"authors\":\"S. Nurmaini, Chusniah\",\"doi\":\"10.1109/ICECOS.2017.8167165\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The fuzzy logic controller with universe of discourses for a nonholonomic mobile robot has been presented in this paper. The mobile robot kinematic and dynamics equations are developed based on Lagrangian, and Newton-Euler approach. The fuzzy logic controller with dynamic universe of discourse is applied to control the posture and torque of mobile robot in unknown environment. The result shows that the posture and torque of mobile robot can be control and produce good performance to force steady state error close to zero with position error about ex(t) = 0.026129, and ey(t) = 0,04387, orientation error abouteθ(t) =0,223065.\",\"PeriodicalId\":6528,\"journal\":{\"name\":\"2017 International Conference on Electrical Engineering and Computer Science (ICECOS)\",\"volume\":\"118 1\",\"pages\":\"50-55\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2017-08-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"7\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2017 International Conference on Electrical Engineering and Computer Science (ICECOS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ICECOS.2017.8167165\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2017 International Conference on Electrical Engineering and Computer Science (ICECOS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ICECOS.2017.8167165","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Differential drive mobile robot control using variable fuzzy universe of discourse
The fuzzy logic controller with universe of discourses for a nonholonomic mobile robot has been presented in this paper. The mobile robot kinematic and dynamics equations are developed based on Lagrangian, and Newton-Euler approach. The fuzzy logic controller with dynamic universe of discourse is applied to control the posture and torque of mobile robot in unknown environment. The result shows that the posture and torque of mobile robot can be control and produce good performance to force steady state error close to zero with position error about ex(t) = 0.026129, and ey(t) = 0,04387, orientation error abouteθ(t) =0,223065.
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