Analogical gates as supervisory and direct controllers for a non-holonomic mobile robot

摘要

Analogical gates are developed to implement four-quadrant fuzzy-generalisation of Boolean logical gates to provide an alternative to the traditional rule-based realisation of a fuzzy controller. Basic properties of the analogical gates are reviewed and some preliminary results on synthesis are discussed. Networks of analogical gates are applied in the control of position and orientation of a non-holonomic mobile robot in two schemes: a) supervisory control to tune the gains of a state-feedback controller and b) as a direct controller with a strong non-linear behaviour.