Design and Implementation of a Takagi–Sugeno-Type Fuzzy Logic Controller on a Two-Wheeled Mobile Robot
Design and Implementation of a Takagi–Sugeno-Type Fuzzy Logic Controller on a Two-Wheeled Mobile Robot
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DOI：
10.1109/tie.2012.2230600
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发表时间：
2013-12
影响因子：
7.7
通讯作者：
Jian-xin Xu;Zhao-Qin Guo;Tong-heng Lee
中科院分区：
文献类型：
--
作者：
Jian-xin Xu;Zhao-Qin Guo;Tong-heng Lee
本文提出了一种新的实现的Takagi-Sugeno型模糊逻辑控制器（FLC）的两轮移动的机器人（2 WMR），这是由两个轮子平行和一个倒摆。2 WMR的控制目标是实现车轮的位置控制，同时保持摆在直立位置附近，这是一个不稳定的平衡。这部作品的新颖之处在于三个方面。首先，FLC是一个综合的设计，利用启发式知识和模型信息的2 WMR系统。FLC结构，包括模糊标签，隶属函数，和推理，选择基于启发式知识的2 WMR。通过比较FLC与线性控制器在某些工作点的输出来确定FLC的输出参数，避免了手动整定的困难和繁琐。线性控制器的设计基于2 WMR系统的线性化模型。其次，所提出的FLC是一个简单的和可实现的设计为真实的实施。每个模糊变量只采用两个模糊标签。16个模糊规则与8个输出参数和4个范围参数的隶属函数被确定。第三，建议FLC成功地实现了实时2 WMR的监管和设定点控制任务。当2 WMR不仅在平坦表面上行驶，而且在倾斜表面上行驶时，都能获得令人满意的响应。通过大量的实验研究，验证了所提出的模糊控制器的有效性，其性能优于现有的方法，具有上级的特点。
This paper presents a novel implementation of a Takagi-Sugeno-type fuzzy logic controller (FLC) on a two-wheeled mobile robot (2WMR), which consists of two wheels in parallel and an inverse pendulum. The control objective of the 2WMR is to achieve position control of the wheels while keeping the pendulum around the upright position that is an unstable equilibrium. The novelties of this work lie in three aspects. First, the FLC is a synthesized design which utilizes both heuristic knowledge and model information of the 2WMR system. The FLC structure, including the fuzzy labels, membership functions, and inference, is chosen based on heuristic knowledge about the 2WMR. The output parameters of the FLC are determined by comparing the output of the FLC with that of a linear controller at certain operating points, which avoids the difficulty and tediousness in manual tuning. The linear controller is designed based on a linearized model of the 2WMR system. Second, the proposed FLC is a simple and realizable design for real implementation. Only two fuzzy labels are adopted for each fuzzy variable. Sixteen fuzzy rules are used with eight output parameters and four range parameters for the membership functions to be determined. Third, the proposed FLC is successfully implemented on a real-time 2WMR for regulation and setpoint control tasks. Satisfactory responses are achieved when the 2WMR travels not only on a flat surface but also on an inclined surface. Through comprehensive experiment-based investigations, the effectiveness of the proposed FLC is validated, and the FLC shows superior performance than the existing methods.