A New Type-3 Fuzzy Predictive Approach for Mobile Robots

Guoxin Hua (), Fei Wang, Jianhui Zhang, Khalid A. Alattas, Ardashir Mohammadzadeh and Mai The Vu ()
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Guoxin Hua: School of Intelligent Manufacturing, Zhejiang Guangsha Vocational and Technical University of Construction, Dongyang 322100, China
Fei Wang: School of Intelligent Manufacturing, Zhejiang Guangsha Vocational and Technical University of Construction, Dongyang 322100, China
Jianhui Zhang: School of Mechanical Engineering, Hangzhou Dianzi University, Hangzhou 310018, China
Khalid A. Alattas: Department of Computer Science and Artificial Intelligence, College of Computer Science and Engineering, University of Jeddah, Jeddah 23890, Saudi Arabia
Ardashir Mohammadzadeh: Multidisciplinary Center for Infrastructure Engineering, Shenyang University of Technology, Shenyang 110870, China
Mai The Vu: School of Intelligent Mechatronics Engineering, Sejong University, Seoul 05006, Korea

Mathematics, 2022, vol. 10, issue 17, 1-16

Abstract: Wheeled mobile robots are widely used for their excellent mobility and high maneuverability. The intelligentization of mobile robots to perform autonomous movement is one of the favorite topics in the robotic field. This paper proposes a new intelligent path-following scheme for mobile robots. A secure path is designed by the chaotic systems and an unknown switching mechanism. The proposed controller is constructed by the type-3 (T3) fuzzy logic systems (FLSs) and a predictive compensator. The T3-FLSs are taught to obtain good accuracy. In addition, the stability is mathematically investigated and guaranteed by the designed compensator. The simulations show that the case-study robot follows the planned secure path well and resists uncertainties.

Keywords: type-3 fuzzy; mobile robots; adaptive control; trajectory following; machine learning (search for similar items in EconPapers)
JEL-codes: C (search for similar items in EconPapers)
Date: 2022
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