Design of optimal Mamdani-type fuzzy controller for nonholonomic wheeled mobile robots
In this paper, in order to cope with both parametric and nonparametric uncertainties in the robot model, an optimal Mamdani-type fuzzy logic controller is introduced for trajectory tracking of wheeled mobile robots (WMRs). The dynamic model of a nonholonomic mobile robot was implemented in the Matla...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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Elsevier
2015-01-01
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| Series: | Journal of King Saud University: Engineering Sciences |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S1018363913000184 |
| _version_ | 1818489263518384128 |
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| author | Davood Nazari Maryam Abadi Mohammad Hassan Khooban |
| author_facet | Davood Nazari Maryam Abadi Mohammad Hassan Khooban |
| author_sort | Davood Nazari Maryam Abadi |
| collection | DOAJ |
| description | In this paper, in order to cope with both parametric and nonparametric uncertainties in the robot model, an optimal Mamdani-type fuzzy logic controller is introduced for trajectory tracking of wheeled mobile robots (WMRs). The dynamic model of a nonholonomic mobile robot was implemented in the Matlab/Simulink environment. The parameters of input and output membership functions, and PID controller coefficients are optimized simultaneously by random inertia weight Particle Swarm Optimization (RNW-PSO). Simulation results show the system performance is desirable. |
| first_indexed | 2024-12-10T17:01:53Z |
| format | Article |
| id | doaj.art-b4986fe996a74e57a54c88b7c28a4a46 |
| institution | Directory Open Access Journal |
| issn | 1018-3639 |
| language | English |
| last_indexed | 2024-12-10T17:01:53Z |
| publishDate | 2015-01-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Journal of King Saud University: Engineering Sciences |
| spelling | doaj.art-b4986fe996a74e57a54c88b7c28a4a462022-12-22T01:40:34ZengElsevierJournal of King Saud University: Engineering Sciences1018-36392015-01-012719210010.1016/j.jksues.2013.05.003Design of optimal Mamdani-type fuzzy controller for nonholonomic wheeled mobile robotsDavood Nazari Maryam Abadi0Mohammad Hassan Khooban1Department of Electrical and Robotic Engineering, Garmsar Branch, Islamic Azad University of Iran, Garmsar, IranDepartment of Electrical and Robotic Engineering, Garmsar Branch, Islamic Azad University of Iran, Garmsar, IranIn this paper, in order to cope with both parametric and nonparametric uncertainties in the robot model, an optimal Mamdani-type fuzzy logic controller is introduced for trajectory tracking of wheeled mobile robots (WMRs). The dynamic model of a nonholonomic mobile robot was implemented in the Matlab/Simulink environment. The parameters of input and output membership functions, and PID controller coefficients are optimized simultaneously by random inertia weight Particle Swarm Optimization (RNW-PSO). Simulation results show the system performance is desirable.http://www.sciencedirect.com/science/article/pii/S1018363913000184Nonholonomic wheeled mobile robot (WMR)Fuzzy controllerParticle Swarm Optimization (PSO) |
| spellingShingle | Davood Nazari Maryam Abadi Mohammad Hassan Khooban Design of optimal Mamdani-type fuzzy controller for nonholonomic wheeled mobile robots Journal of King Saud University: Engineering Sciences Nonholonomic wheeled mobile robot (WMR) Fuzzy controller Particle Swarm Optimization (PSO) |
| title | Design of optimal Mamdani-type fuzzy controller for nonholonomic wheeled mobile robots |
| title_full | Design of optimal Mamdani-type fuzzy controller for nonholonomic wheeled mobile robots |
| title_fullStr | Design of optimal Mamdani-type fuzzy controller for nonholonomic wheeled mobile robots |
| title_full_unstemmed | Design of optimal Mamdani-type fuzzy controller for nonholonomic wheeled mobile robots |
| title_short | Design of optimal Mamdani-type fuzzy controller for nonholonomic wheeled mobile robots |
| title_sort | design of optimal mamdani type fuzzy controller for nonholonomic wheeled mobile robots |
| topic | Nonholonomic wheeled mobile robot (WMR) Fuzzy controller Particle Swarm Optimization (PSO) |
| url | http://www.sciencedirect.com/science/article/pii/S1018363913000184 |
| work_keys_str_mv | AT davoodnazarimaryamabadi designofoptimalmamdanitypefuzzycontrollerfornonholonomicwheeledmobilerobots AT mohammadhassankhooban designofoptimalmamdanitypefuzzycontrollerfornonholonomicwheeledmobilerobots |