Motion Control for Backing up a Four Wheel Autonomous Robot by Fuzzy Method

Motion Control for Backing up a Four Wheel Autonomous Robot by Fuzzy Method

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Part of #Motion Control for Backing up a Four Wheel Autonomous Robot by Fuzzy Method# :

Publishing year : 2008

Conference : Sixteenth Annual Conference of Mechanical Engineering

Number of pages : 4

Abstract: The truck backer-upper problem, considered an acknowledged benchmark in nonlinear system identification, is an excellent test-bed for fuzzy control systems. A fuzzy controller, formulated on the basis of human understanding of the process, or identified from measured control actions, can be considered as an emulator of the human operator. In this paper, a fuzzy control system is proposed that reduces the complexity of the control problem and improves control. Simulation results demonstrate advantages over control performance, convenience and feasibility.