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There has been an increasing interest in a kind of underactuated mechanical systems, mobile wheeled inverted pendulum (MWIP) models, which are widely used in the field of autonomous robotics and intelligent vehicles. Robust velocity tracking problem of MWIP systems is investigated in this study. In the velocity control problem, model uncertainties accompany uncertain equilibriums, which make the controller...
In this paper a genetic algorithm based design method for Takagi-Sugeno (TS) type fuzzy motion controllers is proposed. The parameters of both the antecedent and the consequent part of the fuzzy rules are obtained in the same time, using an improved simple genetic algorithm (ISGA). The controllers are aimed to ensure the locomotion of a Brachiation mobile robot (BMR).
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