Open AccessFuzzy Coordinated Control of an Electric Drive System of a Four-Wheel Mobile Robot
Author(s) -
E. O. Meshkovskiy,
A D Kurmashev,
V Frolov
Publication year - 2020
Publication title -
doklady tomskogo gosudarstvennogo universiteta sistem upravleniâ i radioèlektroniki
Language(s) - English
Resource type - Journals
ISSN - 1818-0442
DOI - 10.21293/1818-0442-2020-23-3-61-69
Subject(s) - mobile robot , control theory (sociology) , controller (irrigation) , base (topology) , control engineering , fuzzy control system , trajectory , control system , fuzzy logic , robot , computer science , differential (mechanical device) , engineering , control (management) , artificial intelligence , mathematics , physics , electrical engineering , mathematical analysis , astronomy , aerospace engineering , agronomy , biology
This paper presents the construction of a fuzzy system controller of a coordinated control system of an electric drive system for a four-wheel mobile robot with two differential drive units. The structure of this system regulator, the rule base, and the expression of the relationship between its elements are shown. In the article the authors show the results of computer experiments in graphs of trajectory error for different configurations of the robot and the system controller coefficient values.