Work

Taylor Series-Based Fuzzy Model Predictive Control for Wheeled Robots

Year: 2022

Type: article

Abstract: In this paper, a new hybrid method for controlling a wheeled robot is introduced. Model predictive control (MPC) is the main controller and a fuzzy controller is used as a compensator. The wheeled robot is a nonlinear, multi-input–multi-output system that requires new and combined methods for precise control. In order to stabilize the system the appropriate control input is set, and at the same time, attention is paid to the reference signal tracking. In the simulation section, several different scenarios are applied and parameter uncertainties and their effects on the controller’s performance are evaluated. The simulation results show the success and efficiency of the proposed method.

Source: Mathematics

DOI: 10.3390/math10142498

Authors: Libo Yang, Mei Guo, Ardashir Mohammadzadeh, Amir Mosavi

Institutions: Guangdong University of Science and Technology, Xiangnan University, Shenyang University of Technology, Obuda University, Slovak University of Technology in Bratislava, Technische Universität Dresden

Language: English

Topic: Control and Dynamics of Mobile Robots

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: gold

Estimated APC paid: $1,885

OpenAlex ID: W4285728342

FWCI: 0.683

Cites: 30

Cited by: 9

Related to: 10