Fuzzy control strategy for the adjustment of the front steering angle of a 4WSD agricultural mobile robot

摘要

This work presents the preliminary studies of the control strategy based in fuzzy logic projected for the steering system for the AGRIBOT project that consist of a wheeled autonomous mobile robotic in real scale endowed with the four independent steering and driven wheels (4WSD). In this work we present a preliminary fuzzy controller design applied to the front steering angle, using a multivariable plant which incorporates simplified linear model of the lateral dynamics of a vehicle whose input are the linear combination of the rear and front steering angles. Simulations are used to illustrate the performance of the designed controller. We use the Ackerman geometry to trace the front steering angle that allows the vehicle to correctly perform a given maneuver preserving the minimum level of stability and maneuverability. The goal is to establish a relationship between the steering input commands and the control commands to the actuators so that it is possible to adjust the attitude of the actuators over the movement axis, as the trajectory change.