Trajectory Tracking Control for a Mobile Robot Using Stochastic Fuzzy Controller
Jun Tang*, Keigo Watanabe**, and Akira Nomiyama***
*Department of Mechanical Engineering, Faculty of Engineering, Yamaguchi University, 2557 Tokiwadai, Ube 755, Japan
**Department of Mechanical Engineering, Saga University Honjomachi-1, Saga 840, Japan
***Nishinihon Soft Service Co., Ltd., 2-9-25, Hakata-eki Higashi, Hakata-ku, Fukuoka 812, Japan
This paper presents a new design for a fuzzy controller, called “stochastic fuzzy control.” It describes the application controlling a mobile robot driven by two independent wheels. Using this scheme, the fuzzy control system provides an optimal stochastic control strategy that ensures the stability of the control system. Two design methods are considered: one assumes that the control object is completely known, and the other assumes that the control object includes unknown parameters. We design the straight line and circular path reference trajectories in accordance with the practical applications for the mobile robot, in which three patterns of speed are adopted. The effectiveness of the proposed method is demonstrated by a series of practical tests using our experimental mobile robot.