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Comparative Evaluation of Fuzzy Maneuvering Controllers Robustness for Differential Drive Mobile Robots
USHIKOSHI, Thiago; PEIXOTO, K. P.; CARNEIRO, L. L.; COUTINHO, Pedro Henrique Silva; CHAGAS, T. P.; SCHNITMAN, L
Resumo
Resumo
: This work presents a comparison between a Mamdani-type fuzzy controller recently proposed and its improved version applied to maneuvering control of a differential drive mobile robot. The performance of the controllers was verified through simulations, where the robot was subject to disturbances, such as variation of ground friction coefficients, mass and battery level. The robot’s kinematic and dynamic models are used for controller tuning and simulation. Results suggest the improved controller has a better performance in all three cases, since its responses are smoother and more accurate.
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palavras-chave
Palavras-chave
fuzzy logic controlMamdani fuzzy controllerdifferential drive robotmaneuvering controlrobustnessdisturbance rejectioncontroller tuning
Status
Published
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