|
|
|
|
Design of optimal Mamdani-type fuzzy controller for nonholonomic wheeled mobile robots
|
|
|
|
|
|
|
|
نویسنده
|
Nazari Maryam Abadi Davood ,Khooban Mohammad Hassan
|
|
منبع
|
journal of king saud university - engineering sciences - 2015 - دوره : 27 - شماره : 1 - صفحه:92 -100
|
|
چکیده
|
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.
|
|
کلیدواژه
|
Nonholonomic wheeled mobile robot (WMR);Fuzzy controller;Particle Swarm Optimization (PSO)
|
|
آدرس
|
Islamic Azad University, Garmsar Branch, Department of Electrical and Robotic Engineering, ایران, Islamic Azad University, Garmsar Branch, Department of Electrical and Robotic Engineering, ایران. Iranian Space Agency, Iranian Space Research Center, Mechanic Institute, ایران
|
|
پست الکترونیکی
|
mhkhoban@gmail.com
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
Authors
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|