design of optimal mamdani-type fuzzy controller for nonholonomic wheeled mobile robots
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2015
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Abstract
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.
| Reference Key |
abadi2015journaldesign
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| Authors | ;Davood Nazari Maryam Abadi;Mohammad Hassan Khooban |
| Journal | european journal of general medicine |
| Year | 2015 |
| DOI |
10.1016/j.jksues.2013.05.003
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