Analogical gates: a fuzzy operator approach for locomotion control of a non-holonomic mobile robot

Abstract

Analogical gates are developed to implement four-quadrant fuzzy-generalisation of Boolean logical gates. Networks built using analogical gates are shown to be useful in real-time control of mobile robots. In this paper, a supervisory control scheme where the gains of a conventional controller are tuned by means of analogical gates is presented through two applications: 1) state-feedback controller of a non-holonomic mobile robot; and 2) command-fusion for a PID-controller with anti-reset wind-up.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>