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Teaching–learning-based optimal interval type-2 fuzzy PID controller design: a nonholonomic wheeled mobile robots

Published online by Cambridge University Press:  19 April 2013

Mohammad Hassan Khooban ,
Alireza Alfi  and
Davood Nazari Maryam Abadi
Mohammad Hassan Khooban*
Affiliation:
Young Researchers Club, Garmsar Branch, Islamic Azad University, Garmsar, Iran
Alireza Alfi
Affiliation:
Faculty of Electrical and Robotic Engineering, Shahrood University of Technology, Shahrood 36199-95161, Iran
Davood Nazari Maryam Abadi
Affiliation:
Department of Electrical Engineering, Garmsar Branch, Islamic Azad University of Iran, Garmsar, Iran
*
*Corresponding author. E-mail: mhkhoban@googlemail.com
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Summary

This paper introduces an optimal interval type-2 fuzzy proportional–integral–derivative (PID) controller to achieve the best trajectory tracking for nonholonomic wheeled mobile robots (WMRs). In the core of the proposed method, a novel population-based optimization algorithm, called teaching–learning-based optimization (TLBO), is employed for evolving the parameters of the controller as well as the parameters of the input and output membership functions. Two PID controllers are designed for each of two wheels separately whereas each controller has two inputs and one output that are logically connected by nine rules. The controller can handle the problem of integrated kinematic and dynamic tracking in the presence of uncertainties. Simulation results demonstrate the superiority of the proposed control scheme.

Keywords

OptimizationTLBO algorithmFuzzy type-2Wheeled mobile robot
Type
Articles
Information
Robotica , Volume 31 , Issue 7 , October 2013 , pp. 1059 - 1071
Copyright
Copyright © Cambridge University Press 2013 

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