Abstract
In this part, a New Fuzzy Suction Controller (NFSC), based on the first type of fuzzy modeling, is proposed using its linguistic rules to design a controller like a suction controller. According to new interpreting switching conditions of a suction controller, three rules are derived to design the linguistic rules of a NFSC such that it reduces chattering and expends less energy than a suction controller does. A design procedure summarizes the NFSC design. In addition, the linguistic rules are designed to have sliding sectors to control a mobile robot for tracking FPE gradient directions with obstacle avoidance. It's the demonstration of motion control in robot navigation using the proposed FPE discussed in Part I of this paper. The simulation includes the robot starting outside or inside a U-shaped obstacle. The proposed NFSC provides a flexible way for adjusting the controller functions using linguistic rules based on the first type of fuzzy modeling.
| Original language | American English |
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| Pages | 260-265 |
| Number of pages | 6 |
| DOIs | |
| State | Published - 25 May 2003 |
| Event | The IEEE International conference on Fuzzy Systems - St. Louis, MO, United States Duration: 25 May 2003 → 28 May 2003 |
Conference
| Conference | The IEEE International conference on Fuzzy Systems |
|---|---|
| Country/Territory | United States |
| City | St. Louis, MO |
| Period | 25/05/03 → 28/05/03 |
Keywords
- Fuzzy Logic Controllers
- Fuzzy modeling
- Motion Control