Modeling and control of mobile platform using flatness-fuzzy based approach with gains adjustment

摘要

This paper presents a new control strategy of autonomous mobile robot in running environment. The robot is considered as an individual agent aimed at executes different tasks in term of motion under constraints applied on robot structure. The flat model of Pioneer 3dx robot is developed in order to prove that the system is flat and has various helpful properties which can be exploited to build the control investigation for such system. The developed control strategy is based on coupling between two techniques which are the flatness and the fuzzy logic technique. The flatness technique is used to planning an optimal trajectory and eliminates the non linearity effects of the model. Further, the fuzzy technique is employed to adjust the control law gains in real time and ensure a good tracking trajectory with high performances in terms of response time and dynamic error. The developed control strategy is simulated and tested using MobileSim simulator of Pioneer 3DX to validate the obtained results, where a good agreement is achieved.