Trajectory Tracking Controls of a Mobile Robot with Two Independent Drive Wheels. Comparative Experiments Between the Computed Torque Control and the Fuzzy Control
2輪独立駆動型移動ロボット車の軌道追従制御 トルク算出制御とファジィ制御の比較実験

Jun Tang, Keigo Watanabe, Masatoshi Nakamura
1996 Journal of the Robotics Society of Japan  
Tracking controls for the speed and azimuth of a mobile robot driven by two independent drive wheels are experimentally attained by using a computed torque control and a fuzzy control. The computed torque controller can be easily derived by using the physical parameters for the mobile robot. However, the computed torque controller for the speed of the mobile robot can have only the P-servo controller. In order to improve the performance of such a controller, we introduce a computed torque
more » ... ller having the D-servo compensator with respect to the speed error. A fuzzy controller is also applied to the present problem, in which the conclusion consists of a function of mean-values on each membership function in the antecedent. The effectiveness of two control methods is illustrated by some experiments and compared with the conventional PID control method.
doi:10.7210/jrsj.14.217 fatcat:er3gvcszbffinjf6tgw6abxspq