Optimal fuzzy tracking control with obstacles avoidance for a mobile robot based on Takagi-Sugeno fuzzy model. (June 2019)

• Record Type: Journal Article
• Authors: Akka, Khaled; Khaber, Farid
• Is Part Of: Transactions of the Institute of Measurement and Control. Volume 41:Number 10(2019)
• Page Start: 2772
• Page End: 2781
• Publication Date: 2019-06
• Subjects: Tracking control -- linear quadratic regulator -- obstacle avoidance -- mobile robot -- fuzzy control -- T-S fuzzy model -- parallel distributed compensation; Automatic control -- Periodicals; Measuring instruments -- Periodicals; Commande automatique -- Périodiques; Mesure -- Instruments -- Périodiques; 681.2
• DOI: 10.1177/0142331218811462
• Languages: English
• ISSNs: 0142-3312

Abstract

This paper presents a trajectory tracking control approach for a mobile robot in the presence of static obstacles on the reference trajectory. The tracking control is developed based on the fuzzy parallel distributed compensation scheme where the linear quadratic regulator is used as a state feedback controller for each subsystem. The obstacle avoidance task is accomplished by applying a linear quadratic regulator on the overall open loop Takagi-Sugeno (T-S) fuzzy system, in which the weighting matrices are adjusted dynamically using a fuzzy controller. A fuzzy fusion controller is designed to combine the tracking and the obstacle avoidance velocities in order to perform both tasks simultaneously. Simulation results illustrate the effectiveness of the proposed control strategy.