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Sheikhlar, A., Zarghami, M., Fakharian, A., Menhaj, M. B.. (1394). Delay Compensation on Fuzzy Trajectory Tracking Control of Omni-Directional Mobile Robots. نشریه مهندسی عمران امیرکبیر, 45(2), 57-64. doi: 10.22060/eej.2015.508
A. Sheikhlar; M. Zarghami; A. Fakharian; M. B. Menhaj. "Delay Compensation on Fuzzy Trajectory Tracking Control of Omni-Directional Mobile Robots". نشریه مهندسی عمران امیرکبیر, 45, 2, 1394, 57-64. doi: 10.22060/eej.2015.508
Sheikhlar, A., Zarghami, M., Fakharian, A., Menhaj, M. B.. (1394). 'Delay Compensation on Fuzzy Trajectory Tracking Control of Omni-Directional Mobile Robots', نشریه مهندسی عمران امیرکبیر, 45(2), pp. 57-64. doi: 10.22060/eej.2015.508
Sheikhlar, A., Zarghami, M., Fakharian, A., Menhaj, M. B.. Delay Compensation on Fuzzy Trajectory Tracking Control of Omni-Directional Mobile Robots. نشریه مهندسی عمران امیرکبیر, 1394; 45(2): 57-64. doi: 10.22060/eej.2015.508

Delay Compensation on Fuzzy Trajectory Tracking Control of Omni-Directional Mobile Robots

AUT Journal of Electrical Engineering
مقاله 7، دوره 45، شماره 2، زمستان 2013، صفحه 57-64  XML اصل مقاله (930 K)
نوع مقاله: Research Paper
شناسه دیجیتال (DOI): 10.22060/eej.2015.508
نویسندگان
A. Sheikhlar1؛ M. Zarghami2؛ A. Fakharian* 3؛ M. B. Menhaj4
1MSc Student, Department of Electrical, Biomedical and Mechatronic Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran.
2MSc Student, Young Researchers and Elite Club, Qazvin Branch, Islamic Azad University, Qazvin, Iran.
3Assistant Professor, Department of Electrical, Biomedical and Mechatronic Engineering, Qazvin Branch, Islamic Azad University, Qazvin, Iran.
4Professor, Electrical Engineering Department, Amirkabir University of Technology, Tehran, Iran.
چکیده
This paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. Fuzzy logic control (FLC) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  On the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's performance if not considered in the controller design. In this work, a delay compensator strategy is employed in order to eliminate the influence of dead time problem. On the other hand, a discrete-time kinematic model is presented for high level control of SSL soccer robots. Also, the model uncertainties are considered as multiplicative parameters and external random disturbances are noticed as additive parameters. The simulation experiments as well as real system experiments demonstrate that the proposed method handles both constant time delay and uncertainties with a small tracking error in comparison with pure fuzzy control.
کلیدواژه ها
Delay Compensation؛ Fuzzy Control؛ Trajectory tracking؛ Omni-Directional Mobile Robot؛ Soccer Robot
عنوان مقاله [English]
Delay Compensation on Fuzzy Trajectory Tracking Control of Omni-Directional Mobile Robots
نویسندگان [English]
A. Sheikhlar, M. Zarghami, A. Fakharian, M. B. Menhaj
چکیده [English]
This paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. Fuzzy logic control (FLC) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  On the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's performance if not considered in the controller design. In this work, a delay compensator strategy is employed in order to eliminate the influence of dead time problem. On the other hand, a discrete-time kinematic model is presented for high level control of SSL soccer robots. Also, the model uncertainties are considered as multiplicative parameters and external random disturbances are noticed as additive parameters. The simulation experiments as well as real system experiments demonstrate that the proposed method handles both constant time delay and uncertainties with a small tracking error in comparison with pure fuzzy control.
کلیدواژه ها [English]
Delay Compensation, Fuzzy Control, Trajectory tracking, Omni-Directional Mobile Robot, Soccer Robot
مراجع
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C. Samson, “Control of chained system application to path following and time-varying point-stabilization of mobile robots,” IEEE Trans. Autom. Control, vol. 40, no. 1, pp. 64–77, Jan. 1995.
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S. Zickler, T. Laue, O. Birbach, M. Wongphati, and M. Veloso, “SSLVision: The Shared Vision System for the RoboCup Small Size League”, RoboCup 2009: Robot Soccer World Cup XIII, vol. 5949, pp. 425–436, 2009.
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