• Corpus ID: 8336300


  author={Leslie Astudillo and Patricia Melin and Oscar Castillo},
This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application. 
Artificial potential field neuro-fuzzy controller for autonomous navigation of mobile robots
A possible combination of three methods widely used in the autonomous navigation of mobile robots, and whose individual implementation still does not yield the expected performances, is investigated, resulting in an interval type-2 fuzzy neural network controller with the artificial potential field controller’s outputs as auxiliary inputs.
Spiking neural network-based target tracking control for autonomous mobile robots
The application to target tracking of a mobile robot in unknown environment verifies the validity of the proposed controller which encodes the preprocessed environmental and target information provided by CCD cameras, encoders and ultrasonic sensors into spike trains integrated by three-layer spiking neural network (SNN).
Obstacle Avoidance Method for Wheeled Mobile Robots Using Interval Type-2 Fuzzy Neural Network
Since the IT2FNN uses the fuzzy set instead of the crisp set as the membership values and it is robust against uncertainties, the performance of the robot behavior can be significantly improved especially in the presence of obstacles.
Practical output tracking of switched nonlinear systems in p-normal form with unstable subsystems
A constructive scheme to solve the problem for a switched nonlinear system is set up by exploiting the single Lyapunov function method and the tool of adding a power integrator.
Tracking control of uncertain Euler–Lagrange systems with finite‐time convergence
A unified solution is presented to the tracking control problem of Euler–Lagrange systems with finite‐time convergence. A reconstruction module is designed to estimate the overall of unmodeled
Relative Orbit Stabilization Control for the Agile Satellite under Stochastic Disturbance
This paper investigates the relative orbit control problem for a space communication satellite network. An observer-based state feedback control scheme is developed under the circumstance of faults
New Results on $H_\infty$ Tracking Control Based on the T–S Fuzzy Model for Sampled-Data Networked Control System
This study deals with the problem of H∞ tracking control for a sampled-data networked control system based on a Takagi-Sugeno fuzzy model and introduces a new augmented Lyapunov-Krasovskii functional to derive a sufficient condition to ensure a prescribed H ∞ tracking performance with less conservativeness than others.
The Quadrotor Dynamic Modeling and Indoor Target Tracking Control Method
A reliable nonlinear dynamic model of the quadrotor is presented. The nonlinear dynamic model includes actuator dynamic and aerodynamic effect. Since the rotors run near a constant hovering speed,
Robust Redundant Input Reliable Tracking Control for Omnidirectional Rehabilitative Training Walker
The problem of robust reliable tracking control on the omnidirectional rehabilitative training walker is examined. The new nonlinear redundant input method is proposed when one wheel actuator fault
Tracking mobile robot in indoor wireless sensor networks
This work addresses the problem of tracking mobile robots in indoor wireless sensor networks (WSNs) using a localization scheme with RSSI (received signal strength indication) which is used widely in WSNs.


Intelligent Control for a Perturbed Autonomous Wheeled Mobile Robot: a Type-2 Fuzzy Logic Approach
This paper focuses on the control of wheeled mobile robot subject to bounded disturbances. A tracking controller for the mobile robot was developed by considering its kinematic model and
Fuzzy logic implementation in mobile robot control
An implementation of fuzzy logic for control of type (2-0) mobile robots with fuzzy controllers for trajectory tracking and obstacle avoidance and simulation results are compared to those of a nonlinear control algorithm.
Position control for wheeled mobile robots using a fuzzy logic controller
  • T.H. Lee, F. Leung, P. Tam
  • Computer Science
    IECON'99. Conference Proceedings. 25th Annual Conference of the IEEE Industrial Electronics Society (Cat. No.99CH37029)
  • 1999
The design and development of a fuzzy logic controller for the position control of wheeled mobile robots and it is shown that such a fuzzy controlled WMR can have a better performance than a fine-turned PD-controlled WMR.
Trajectory tracking control of a laser-guided wheeled mobile robot
This paper develops methodology and technique for design and implementation of a path tracking control of a wheeled mobile robot using a retroflective laser scanner. A fuzzy extended information
Adaptive tracking control of a nonholonomic mobile robot
An adaptive extension of the kinematic controller for the dynamic model of a nonholonomic mobile robot with unknown parameters is proposed, and a torque adaptive controller is derived by using the k cinematic controller.
Control of a nonholonomic mobile robot using neural networks
  • R. Fierro, F. Lewis
  • Engineering, Mathematics
    Proceedings of Tenth International Symposium on Intelligent Control
  • 1995
A combined kinematic/torque control law is developed using backstepping and stability is guaranteed by Lyapunov theory, which can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following, and stabilization about a desired posture.
Control of a nonholonomic mobile robot: backstepping kinematics into dynamics
  • R. Fierro, F. L. Lewis
  • Mathematics, Engineering
    Proceedings of 1995 34th IEEE Conference on Decision and Control
  • 1995
A combined kinematic/torque control law is developed using backstepping and asymptotic stability is guaranteed by Lyapunov theory and can be applied to the three basic nonholonomic navigation problems: tracking a reference trajectory, path following and stabilization about a desired posture.
Tracking control of unicycle-modeled mobile robots using a saturation feedback controller
The tracking control problem with saturation constraint for a class of unicycle-modeled mobile robots is formulated and solved using the backstepping technique and the idea from the LaSalle's invariance principle, and computer simulations confirm the effectiveness of the proposed tracking control law.
A stable tracking control method for a non-holonomic mobile robot
A stable control rule to find a reasonable target linear and rotational velocities ( nu, omega )/sup t/ is proposed and implemented on the autonomous mobile robot Yamabico-11.