Design and implementation of an adaptive fuzzy logic-based controller for wheeled mobile robots

@article{Das2006DesignAI,
  title={Design and implementation of an adaptive fuzzy logic-based controller for wheeled mobile robots},
  author={Tamoghna Das and Indra Narayan Kar},
  journal={IEEE Transactions on Control Systems Technology},
  year={2006},
  volume={14},
  pages={501-510}
}
In this paper, a control structure that makes possible the integration of a kinematic controller and an adaptive fuzzy controller for trajectory tracking is developed for nonholonomic mobile robots. The system uncertainty, which includes mobile robot parameter variation and unknown nonlinearities, is estimated by a fuzzy logic system (FLS). The proposed adaptive controller structure represents an amalgamation of nonlinear processing elements and the theory of function approximation using FLS… CONTINUE READING
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