Stochastic Fuzzy Control. 3rd Report. Application to Trajectory Tracking Control of a Mobile Robot.

摘要

A stochastic fuzzy control is applied for the trajectory tracking control of a mobile robot with two independent driving wheels. In this approach, the fuzzy control system can be realized as a stochastic control. That is, the control system mainly consists of two parts: one is an estimation part which estimates the initial state by using a static fuzzy observer; while the other is a feedback control part consisting of a constant feedback gain and the estimated initial state. When the control object is assumed to be unknown, the control gain can be designed from the viewpoint of a variable structure system (VSS) control theory. On the other hand, when the control object is assumed to be known, the control gain can be easily designed from the viewpoint of a pole assignment. It is also pointed out that uncontrollable state mode data are not necessary for constructing the stochastic fuzzy controllers. The effectiveness of the proposed method is illustrated using computer simulations.