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To realize real-time goal-oriented navigation for a mobile robot in unpredictable environments, a fuzzy reactive system is proposed in this paper. Besides the establishment of the fuzzy logic system, this paper focuses on the the physical meaning of the parameters in the fuzzy system, and proposes a systematic method to automatically suppress redundant fuzzy rules from the rule base. Under the control...
Fuzzy logic based control systems provide a simple and efficient method to control highly complex and imprecise systems. However, the lack of a simple hardware design that is capable of modifying the fuzzy controller's parameters to adapt for any changes in the operation environment, or behavior of the plant system limits the applicability of fuzzy based control systems in the automotive and industrial...
This paper presents a relative humidity control scheme to reduce variable fluctuations and improve process control precision, thus increasing production quality and energy saving in industrial applications. The influence of absolute temperature on the closed-loop process control of relative humidity is discussed. Based on the relative humidity measurement principle, this effect of modifying the input...
This paper presents a new fuzzy controller for semi-active vehicle suspension systems, which has a significantly fewer number of rules in comparison to existing fuzzy controllers. The proposed fuzzy controller has only nine fuzzy rules, whose performance is equivalent to the existing fuzzy controller with 49 fuzzy rules. The proposed controller with less number of fuzzy rules will be more feasible...
This paper presents a fuzzy-control method for the motion control of an acrobot. First, an explanation is given of the singularity that arises when a motion control law based on a Lyapunov function has an integrated control objective for energy and posture. Then, a fuzzy controller is designed that solves the singularity problem through regulation of a design parameter in the control law. Finally,...
In this paper, a novel algorithm based on sensory information is developed to address the problem of goal unreachable with large obstacles (GUWLO) found in fuzzy logic-based navigation algorithms for mobile robots. The GUWLO problem occurs when the absolute value of the target angle is large and the directions to the left (or right) are completely blocked. This is alleviated by interpolating a temporary...
In this paper, a layered goal-oriented motion planning strategy using fuzzy logic is developed for a mobile robot navigating in an unknown environment. Information about the global goal and long-range sensory data are used by the first layer of the planner to produce an intermediate goal, referred to as the way-point that gives an optimal direction in terms of seeking the goal within the detected...
In many practical applications, the performance of a controlled system highly depends on whether a high quality differential signal can be obtained based on the non-continuous measured position signal only. In this paper, a simple hybrid fuzzy PD (proportional and derivative) controller is developed, by combining two nonlinear tracking differentiators to a conventional fuzzy PD controller. The main...
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