Skip to main content
SpringerLink
Log in
Book cover

Soft Computing Applications in Optimization, Control, and Recognition pp 3–26Cite as

Optimization of Type-2 and Type-1 Fuzzy Tracking Controllers for an Autonomous Mobile Robot under Perturbed Torques by Means of a Chemical Optimization Paradigm

  • Chapter

Part of the book series: Studies in Fuzziness and Soft Computing ((STUDFUZZ,volume 294))

Abstract

This paper addresses the tracking problem for the dynamic model of a unicycle mobile robot. A novel optimization method inspired on the chemical reactions is applied to solve this motion problem by integrating a kinematic and a torque controller based on fuzzy logic theory. Computer simulations are presented confirming that this optimization paradigm is able to outperform other optimization techniques applied to this particular robot application.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   84.99
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   109.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info
Hardcover Book
USD   109.99
Price excludes VAT (USA)
  • Durable hardcover edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Aliev, R.A., Pedrycz, W., Guirimov, B.G., Aliev, R.R., Ilhan, U., Babagil, M., et al.: Type-2 fuzzy neural networks with fuzzy clustering and differential evolution optimization. Information Sciences 181(9), 1591–1608 (2011)

    Article  MathSciNet  Google Scholar 

  2. Astudillo, L., Castillo, O., Aguilar, L.: Intelligent Control for a Perturbed Autonomous Wheeled Mobile Robot: a Type-2 Fuzzy Logic Approach. Nonlinear Studies 14(1) (2007)

    Google Scholar 

  3. Bentalba, S., El Hajjaji, A., Rachid, A.: Fuzzy Control of a Mobile Robot: A New Approach. In: Proc. IEEE Int. Conf. on Control Applications, Hartford, CT, pp. 69–72 (October 1997)

    Google Scholar 

  4. Bloch, A.M., Drakunov, S.: Tracking in NonHolonomic Dynamic System Via Sliding Modes. In: Proc. IEEE Conf. on Decision & Control, Brighton, UK, pp. 1127–1132 (1991)

    Google Scholar 

  5. Campion, G., Bastin, G., D’Andrea-Novel, B.: Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots. IEEE Trans. on Robotics and Automation 12(1) (February 1996)

    Google Scholar 

  6. Lopez, M., Melin, P., Castillo, O.: Comparative Study of Fuzzy Methods for Response Integration in Ensemble Neural Networks for Pattern Recognition. In: Melin, P., Kacprzyk, J., Pedrycz, W. (eds.) Bio-inspired Hybrid Intelligent Systems for Image Analysis and Pattern Recognition. SCI, vol. 256, pp. 123–140. Springer, Heidelberg (2009)

    Chapter  Google Scholar 

  7. Cazarez-Castro, N.R., Aguilar, L.T., Castillo, O.: Fuzzy logic control with genetic membership function parameters optimization for the output regulation of a servomechanism with nonlinear backlash. Expert Systems with Applications 37(6), 4368–4378 (2010)

    Article  Google Scholar 

  8. Chwa, D.: Sliding-Mode Tracking Control of Nonholonomic Wheeled Mobile Robots in Polar coordinates. IEEE Trans. on Control Syst. Tech. 12(4), 633–644 (2004)

    MathSciNet  Google Scholar 

  9. Fierro, R., Lewis, F.L.: Control of a Nonholonomic Mobile Robot: Backstepping Kinematics into Dynamics. In: Proc. 34th Conf. on Decision & Control, New Orleans, LA (1995)

    Google Scholar 

  10. Fierro, R., Lewis, F.L.: Control of a Nonholonomic Mobile Robot Using Neural Networks. IEEE Trans. on Neural Networks 9(4), 589–600 (1998)

    Article  Google Scholar 

  11. Fukao, T., Nakagawa, H., Adachi, N.: Adaptive Tracking Control of a NonHolonomic Mobile Robot. IEEE Trans. on Robotics and Automation 16(5), 609–615 (2000)

    Article  Google Scholar 

  12. Ishikawa, S.: A Method of Indoor Mobile Robot Navigation by Fuzzy Control. In: Proc. Int. Conf. Intell. Robot. Syst., Osaka, Japan, pp. 1013–1018 (1991)

    Google Scholar 

  13. Kanayama, Y., Kimura, Y., Miyazaki, F., Noguchi, T.: A Stable Tracking Control Method For a Non-Holonomic Mobile Robot. In: Proc. IEEE/RSJ Int. Workshop on Intelligent Robots and Systems, Osaka, Japan, pp. 1236–1241 (1991)

    Google Scholar 

  14. Kolmanovsky, I., McClamroch, N.H.: Developments in NonholonomicNontrol Problems. IEEE Control Syst. Mag. 15, 20–36 (1995)

    Article  Google Scholar 

  15. Lee, T.-C., Lee, C.H., Teng, C.-C.: Tracking Control of Mobile Robots Using the Backsteeping Technique. In: Proc. 5th. Int. Conf. Contr., Automat., Robot. Vision, Singapore, pp. 1715–1719 ( December 1998)

    Google Scholar 

  16. Lee, T.H., Leung, F.H.F., Tam, P.K.S.: Position Control for Wheeled Mobile Robot Using a Fuzzy Controller, pp. 525–528. IEEE (1999)

    Google Scholar 

  17. Lee, T.-C., Tai, K.: Tracking Control of Unicycle-Modeled Mobile robots Using a Saturation Feedback Controller. IEEE Trans. on Control Systems Technology 9(2), 305–318 (2001)

    Article  Google Scholar 

  18. Martinez, R., Castillo, O., Aguilar, L.: Optimization of type-2 fuzzy logic controllers for a perturbed autonomous wheeled mobile robot using genetic algorithms. Information Sciences 179(13), 2158–2174 (2009)

    Article  MATH  Google Scholar 

  19. Meyer, T., Yamamoto, L., Banzhaf, W., Tschudin, C.: Elongation Control in an Algorithmic Chemistry. In: Kampis, G. (ed.) ECAL 2009, Part I. LNCS, vol. 5777, pp. 273–280. Springer, Heidelberg (2011)

    Google Scholar 

  20. Mohammadi, S.M.A., Gharaveisi, A.A., Mashinchi, M., Vaezi-Nejad, S.M.: An evolutionary tuning technique for type-2 fuzzy logic controller. Transactions of the Institute of Measurement and Control 33(2), 223–245 (2011)

    Article  Google Scholar 

  21. Nelson, W., Cox, I.: Local Path Control for an Autonomous Vehicle. In: Proc. IEEE Conf. on Robotics and Automation, pp. 1504–1510 (1988)

    Google Scholar 

  22. Oh, S., Jang, H., Pedrycz, W.: A comparative experimental study of type-1/type-2 fuzzy cascade controller based on genetic algorithms and particle swarm optimization. Expert Systems with Applications 38(9), 11217–11229 (2011)

    Article  Google Scholar 

  23. Pawlowski, S., Dutkiewicz, P., Kozlowski, K., Wroblewski, W.: Fuzzy Logic Implementation in Mobile Robot Control. In: 2nd Workshop on Robot Motion and Control, pp. 65–70 (October 2001)

    Google Scholar 

  24. Sahab, A.R., Moddabernia, M.R.: Backstepping method for a single-link flexible-joint manipulator using genetic algorithm. IJICIC 7(7B), 4161–4170 (2011)

    Google Scholar 

  25. Shi, N.-Y., Chu, C.-P.: A molecular solution to the hitting-set problem in DNA-based supercomputing. Information Sciences 180, 1010–1019 (2010)

    Article  Google Scholar 

  26. Song, K.T., Sheen, L.H.: Heuristic fuzzy-neural Network and its application to reactive navigation of a mobile robot. Fuzzy Sets Systems 110(3), 331–340 (2000)

    Article  Google Scholar 

  27. Tsai, C.-C., Lin, H.-H., Lin, C.-C.: Trajectory Tracking Control of a Laser-Guided Wheeled Mobile Robot. In: Proc. IEEE Int. Conf. on Control Applications, Taipei, Taiwan, pp. 1055–1059 (September 2004)

    Google Scholar 

  28. Ulyanov, S.V., Watanabe, S., Ulyanov, V.S., Yamafuji, K., Litvintseva, L.V., Rizzotto, G.G.: Soft Computing for the Intelligent Robust Control of a Robotic Unicycle with a New Physical Measure for Mechanical Controllability. Soft Computing 2, 73–88 (1998)

    Article  Google Scholar 

  29. Xu, J., Lam, A.Y.S., Li, V.O.K.: Chemical Reaction Optimization for the Grid Scheduling Problem. In: IEE Communication Society, ICC 2010, pp. 1–5 (2010)

    Google Scholar 

  30. Yamamoto, L.: Evaluation of a Catalytic Search Algorithm. In: Proc. 4th Int. Workshop on Nature Inspired Cooperative Strategies for Optimization, NICSO 2010, pp. 75–87 (2010)

    Google Scholar 

  31. Yu, J., Ma, Y., Chen, B., Yu, H., Pan, S.: Adaptive Neural Position Tracking Control for Induction Motors via Backstepping. IJICIC 7(7B), 4503–4516 (2011)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Tijuana Institute of Technology, Tijuana, México

    Leslie Astudillo, Patricia Melin & Oscar Castillo

Authors
  1. Leslie Astudillo
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Patricia Melin
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Oscar Castillo
    View author publications

    You can also search for this author in PubMed Google Scholar

Editor information

Editors and Affiliations

  1. , Graduate Program of Computer Science, Tijuana Institute of Technology, Calzada Tecnologico s/n, Tijuana, 22379, Mexico

    Patricia Melin

  2. , Graduate Program of Computer Science, Tijuana Institute of Technology, Calzada Tecnologico s/n, Tijuana, 22379, Mexico

    Oscar Castillo

Rights and permissions

Reprints and permissions

Copyright information

© 2013 Springer-Verlag Berlin Heidelberg

About this chapter

Cite this chapter

Astudillo, L., Melin, P., Castillo, O. (2013). Optimization of Type-2 and Type-1 Fuzzy Tracking Controllers for an Autonomous Mobile Robot under Perturbed Torques by Means of a Chemical Optimization Paradigm. In: Melin, P., Castillo, O. (eds) Soft Computing Applications in Optimization, Control, and Recognition. Studies in Fuzziness and Soft Computing, vol 294. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-35323-9_1

Download citation

  • DOI: https://doi.org/10.1007/978-3-642-35323-9_1

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-35322-2

  • Online ISBN: 978-3-642-35323-9

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation