Optimal design of type-2 and type-1 fuzzy tracking controllers for autonomous mobile robots under perturbed torques using a new chemical optimization paradigm
Expert Systems with ApplicationsPublished 20 December 2012
Patricia Melín, Leslie Astudillo, Oscar Castillo, Fevrier Valdez, Mario A. García‐Murillo
Citations133
SJR quartileQ1
SJR score1.85
SNIP2.55
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TL;DR
A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory and it is shown that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application.
Abstract
This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application.
Keywords
Computer ScienceEngineering
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