Intelligent Control of an Autonomous Mobile Robot using Type-2 Fuzzy Logic

@inproceedings{Astudillo2001IntelligentCO,
  title={Intelligent Control of an Autonomous Mobile Robot using Type-2 Fuzzy Logic},
  author={Leslie Astudillo and Oscar Castillo and Patricia Melin and Arnulfo Alanis Garza and Jos{\'e} Soria and Luis T. Aguilar},
  booktitle={Engineering Letters},
  year={2001}
}
In this paper, a novel tacking control approach is proposed for real-time navigation of a nonholonomic mobile robot. The proposed tracking controller is based on the error dynamics analysis of the mobile robot and a neural dynamics model derived from Hodgkin and Huxley’s membrane model of a biological system. The stability of the control system and the convergence of tracking errors to zeros are guaranteed by a Lyapunov stability theory. Unlike many tracking control methods for mobile robot… CONTINUE READING
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