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Tracking control of a nonholonomic mobile robot using a fuzzy-based approach
Zou, An-Min; Hou, Zeng-Guang; Tan, Min; Zhao, Zeng-Shun; Wang, L; Jiao, L; Shi, G; Li, X; Liu, J
Source PublicationFUZZY SYSTEMS AND KNOWLEDGE DISCOVERY, PROCEEDINGS
2006
Volume4223Pages:826-835
SubtypeArticle
AbstractThis paper investigates the tracking problem of nonholonomic mobile robots. A control structure combining a kinematic controller and a dynamic controller based on nonlinear feedback control plus fuzzy compensator is presented. The fuzzy compensator, whose parameters are tuned on-line, is employed to approximate the total uncertainty including the structured and unstructured uncertainties due to the universal approximation property of fuzzy logic systems. The stability of the proposed approach is guaranteed by the Lyapunov theory. Simulation results show the efficiency of the proposed approach.
WOS HeadingsScience & Technology ; Technology
WOS KeywordNETWORKS
Indexed ByISTP ; SCI
Language英语
WOS Research AreaComputer Science
WOS SubjectComputer Science, Artificial Intelligence
WOS IDWOS:000241106000102
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/9221
Collection09年以前成果
AffiliationChinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
Recommended Citation
GB/T 7714
Zou, An-Min,Hou, Zeng-Guang,Tan, Min,et al. Tracking control of a nonholonomic mobile robot using a fuzzy-based approach[J]. FUZZY SYSTEMS AND KNOWLEDGE DISCOVERY, PROCEEDINGS,2006,4223:826-835.
APA Zou, An-Min.,Hou, Zeng-Guang.,Tan, Min.,Zhao, Zeng-Shun.,Wang, L.,...&Liu, J.(2006).Tracking control of a nonholonomic mobile robot using a fuzzy-based approach.FUZZY SYSTEMS AND KNOWLEDGE DISCOVERY, PROCEEDINGS,4223,826-835.
MLA Zou, An-Min,et al."Tracking control of a nonholonomic mobile robot using a fuzzy-based approach".FUZZY SYSTEMS AND KNOWLEDGE DISCOVERY, PROCEEDINGS 4223(2006):826-835.
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