Paper Info
Title
Fuzzy Control of the Inspection Robot for Obstacle-Negotiation.
Abstract
This paper proposes the structure of hierarchical behavior controller for the inspection robot. And a fuzzy controller is designed based on the structure to realize the turning behavior of robot. The inspection robot is a multivariable, nonlinear, strongly coupling and underactuated dynamic system. It is difficult to establish an accurate mathematic model of the system. The fuzzy control method can be applicable to those objects which hardly have an accurate mathematic model or whose system parameters are variable. This paper also discusses the stability of fuzzy control system. The experiment results show that the designed fuzzy controller can meet the requirement of the obstacle-negotiation control system.
Year
DOI
Venue
2008
10.1109/ICNSC.2008.4525194
ICNSC
Keywords
Field
DocType
robots,control systems,dynamic system,nonlinear system,power transmission lines,couplings,mobile robots,mathematics,stability,mathematical model,control system,inspection,fuzzy control
Control theory,Multivariable calculus,Computer science,Control theory,Fuzzy logic,Control engineering,Control system,Fuzzy control system,Robot,Underactuation,Mobile robot
Conference
Volume
Issue
ISSN
null
34
null
ISBN
Citations 
PageRank 
978-1-4244-1686-8
0
0.34
References 
Authors
0
4
Name
Order
Citations
PageRank
Li Cai100.34
Zi-ze Liang210619.61
Zeng-Guang Hou32293167.18
Min Tan42342201.12