Optimal Control of Non-Holonomic Robotic Systems Based on Type-3 Fuzzy Model
The paper studies the control of wheeled land mobile robots (MRs) using nonlinear equations and non-holonomic dynamic constraints. Due to the complex and unpredictable nature of the environments in which these robots operate, designing a controller for them is a challenging task. Uncertainties in th...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
|
| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10309122/ |
| _version_ | 1797629003453956096 |
|---|---|
| author | Lili Wu Haiyan Huang Meng Wang Khalid A. Alattas Ardashir Mohammadzadeh Ebrahim Ghaderpour |
| author_facet | Lili Wu Haiyan Huang Meng Wang Khalid A. Alattas Ardashir Mohammadzadeh Ebrahim Ghaderpour |
| author_sort | Lili Wu |
| collection | DOAJ |
| description | The paper studies the control of wheeled land mobile robots (MRs) using nonlinear equations and non-holonomic dynamic constraints. Due to the complex and unpredictable nature of the environments in which these robots operate, designing a controller for them is a challenging task. Uncertainties in the system further compound the problem. To tackle these challenges, this paper proposes a novel approach based on type-3 (T3) fuzzy logic systems (FLSs) for system identification and parameter estimation. The T3- FLSs are used to create an online model of the MRs dynamics, which is then used to design a model-based control system. To account for the approximation error of T3- FLSs and the effect of un-modeled dynamics and constraints, an optimal supervisor is designed. The supervisor compensates for any error in the model and ensures that the control system remains stable under symmetrical constraints. A Lyapunov analysis is conducted to verify the stability of the system. The simulations demonstrate that the proposed controller yields excellent results even in the presence of non-holonomic constraints and fully unknown dynamics. The findings of this study offer significant insights into the challenges associated with controlling MRs and provide a promising solution to address these issues. |
| first_indexed | 2024-03-11T10:48:12Z |
| format | Article |
| id | doaj.art-9bc295d815ce4484a54a3d2580f320b8 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-11T10:48:12Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-9bc295d815ce4484a54a3d2580f320b82023-11-14T00:00:34ZengIEEEIEEE Access2169-35362023-01-011112443012444010.1109/ACCESS.2023.333024410309122Optimal Control of Non-Holonomic Robotic Systems Based on Type-3 Fuzzy ModelLili Wu0Haiyan Huang1https://orcid.org/0009-0001-6180-6249Meng Wang2Khalid A. Alattas3https://orcid.org/0000-0001-6528-3636Ardashir Mohammadzadeh4https://orcid.org/0000-0001-5173-4563Ebrahim Ghaderpour5https://orcid.org/0000-0002-5165-1773School of Intelligent Manufacturing, Zhejiang Guangsha Vocational and Technical University of Construction, Dongyang, ChinaSchool of Intelligent Manufacturing, Zhejiang Guangsha Vocational and Technical University of Construction, Dongyang, ChinaJiangsu Huibo Robot Technology Company Ltd., Suzhou, ChinaDepartment of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah, Saudi ArabiaMultidisciplinary Center for Infrastructure Engineering, Shenyang University of Technology, Shenyang, ChinaDepartment of Earth Sciences, Sapienza University of Rome, Rome, ItalyThe paper studies the control of wheeled land mobile robots (MRs) using nonlinear equations and non-holonomic dynamic constraints. Due to the complex and unpredictable nature of the environments in which these robots operate, designing a controller for them is a challenging task. Uncertainties in the system further compound the problem. To tackle these challenges, this paper proposes a novel approach based on type-3 (T3) fuzzy logic systems (FLSs) for system identification and parameter estimation. The T3- FLSs are used to create an online model of the MRs dynamics, which is then used to design a model-based control system. To account for the approximation error of T3- FLSs and the effect of un-modeled dynamics and constraints, an optimal supervisor is designed. The supervisor compensates for any error in the model and ensures that the control system remains stable under symmetrical constraints. A Lyapunov analysis is conducted to verify the stability of the system. The simulations demonstrate that the proposed controller yields excellent results even in the presence of non-holonomic constraints and fully unknown dynamics. The findings of this study offer significant insights into the challenges associated with controlling MRs and provide a promising solution to address these issues.https://ieeexplore.ieee.org/document/10309122/Adaptive controlfuzzy controlnon-holonomicoptimal controlrobotic systemssymmetrical constraints |
| spellingShingle | Lili Wu Haiyan Huang Meng Wang Khalid A. Alattas Ardashir Mohammadzadeh Ebrahim Ghaderpour Optimal Control of Non-Holonomic Robotic Systems Based on Type-3 Fuzzy Model IEEE Access Adaptive control fuzzy control non-holonomic optimal control robotic systems symmetrical constraints |
| title | Optimal Control of Non-Holonomic Robotic Systems Based on Type-3 Fuzzy Model |
| title_full | Optimal Control of Non-Holonomic Robotic Systems Based on Type-3 Fuzzy Model |
| title_fullStr | Optimal Control of Non-Holonomic Robotic Systems Based on Type-3 Fuzzy Model |
| title_full_unstemmed | Optimal Control of Non-Holonomic Robotic Systems Based on Type-3 Fuzzy Model |
| title_short | Optimal Control of Non-Holonomic Robotic Systems Based on Type-3 Fuzzy Model |
| title_sort | optimal control of non holonomic robotic systems based on type 3 fuzzy model |
| topic | Adaptive control fuzzy control non-holonomic optimal control robotic systems symmetrical constraints |
| url | https://ieeexplore.ieee.org/document/10309122/ |
| work_keys_str_mv | AT liliwu optimalcontrolofnonholonomicroboticsystemsbasedontype3fuzzymodel AT haiyanhuang optimalcontrolofnonholonomicroboticsystemsbasedontype3fuzzymodel AT mengwang optimalcontrolofnonholonomicroboticsystemsbasedontype3fuzzymodel AT khalidaalattas optimalcontrolofnonholonomicroboticsystemsbasedontype3fuzzymodel AT ardashirmohammadzadeh optimalcontrolofnonholonomicroboticsystemsbasedontype3fuzzymodel AT ebrahimghaderpour optimalcontrolofnonholonomicroboticsystemsbasedontype3fuzzymodel |