Open AccessDesign and Study of an Adaptive Fuzzy Logic-Based Controller for Wheeled Mobile Robots Implemented in the Leader-Follower Formation Approach
Author(s) -
H. Medjoubi,
Y. Abdessemed,
Abdelouahab Hassam
Publication year - 2021
Publication title -
engineering, technology and applied science research/engineering, technology and applied science research
Language(s) - English
Resource type - Journals
eISSN - 2241-4487
pISSN - 1792-8036
DOI - 10.48084/etasr.3950
Subject(s) - control theory (sociology) , holonomic , mobile robot , fuzzy logic , controller (irrigation) , control engineering , trajectory , computer science , fuzzy control system , control (management) , robot , engineering , artificial intelligence , physics , astronomy , agronomy , biology
This paper presents a new design of an adaptive fuzzy logic control by implementing the leader-follower approach. The principle is to modify the feedback control of non-holonomic Wheeled Mobile Robot (WMR) to be adaptive according to a fuzzy controller in the control loop, in order to adjust the feedback control gains according to the distance error between the reference path and the real position. The trajectory tracking control for a single WMR is extended to the formation control for two WMRs in which the first one is the leader and the second is the follower. Simulation results are presented to demonstrate the effectiveness of the proposed controller.