این سایت در حال حاضر پشتیبانی نمی شود و امکان دارد داده های نشریات بروز نباشند
Journal of Computational and Applied Research in Mechanical Engineering - JCARME، جلد ۸، شماره ۲، صفحات ۱۳۳-۱۴۴
عنوان فارسی
چکیده فارسی مقاله
کلیدواژه‌های فارسی مقاله
عنوان انگلیسی Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time
چکیده انگلیسی مقاله Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and also, computer simulation of the system, first the system model is derived at the level of kinematics. The system model is nonholonomic. Then a simple non-mode-based controller based on fuzzy logic will be proposed. The control input resulted from fuzzy logic will then be corrected to fulfill the actuation saturation limits and non-slipping condition. To prove the efficiency of the suggested controller, its response, in terms of the required computational time burden and tracking error, will be compared with a previously suggested method. The obtained simulation results support the superiority of fuzzy based method over a previous study in terms of the considered measures.
کلیدواژه‌های انگلیسی مقاله
نویسندگان مقاله Mohammad Falsafi |
Department of Mechatronics Eng., Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran

Khalil Alipour |
Department of Mechatronics Eng., Faculty of New Sciences and Technologies, University of Tehran

Bahram Tarvirdizadeh |
Department of Mechatronics Engineering, Faculty of New Sciences and Technologies, University of Tehran, Tehran, Iran

نشانی اینترنتی http://jcarme.sru.ac.ir/article_809_042c027fcee632540f0aafe003d1ed0a.pdf
فایل مقاله اشکال در دسترسی به فایل - ./files/site1/rds_journals/484/article-484-1243536.pdf
کد مقاله (doi)
زبان مقاله منتشر شده en
موضوعات مقاله منتشر شده
نوع مقاله منتشر شده
برگشت به: صفحه اول پایگاه   |   نسخه مرتبط   |   نشریه مرتبط   |   فهرست نشریات