Differential drive mobile robot control using variable fuzzy universe of discourse

摘要

The fuzzy logic controller with universe of discourses for a nonholonomic mobile robot has been presented in this paper. The mobile robot kinematic and dynamics equations are developed based on Lagrangian, and Newton-Euler approach. The fuzzy logic controller with dynamic universe of discourse is applied to control the posture and torque of mobile robot in unknown environment. The result shows that the posture and torque of mobile robot can be control and produce good performance to force steady state error close to zero with position error about e <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">x</sub> (t) = 0.026129, and e <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">y</sub> (t) = 0,04387, orientation error aboute <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">θ</sub> (t) =0,223065.