Maintenance of robot's equilibrium in a noisy environment with fuzzy controller

Abstract

Tasks that involve controlling complex systems have been less prevalent due to the lack of analytical methods that can adequately handle uncertainty and concisely represent knowledge in practical control systems. Recent research and application employing non-analytical methods of computing such as fuzzy logic, evolutionary computation, and neural networks have demonstrated the utility and potential of these paradigms for intelligent control of complex systems. In this paper we present a fuzzy logic controller for a mobile robot which can handle external forces and maintain robot's equilibrium in a noisy environment. These forces with different angles and magnitudes deviate the robot from its path, but the fuzzy logic controller handle them properly and place the mobile robot in the right path to destination. Based on its design simplicity, its ease of implementation, and its robustness properties, a fuzzy logic controller is used in this paper to control robot's equilibrium.