Design and Study of an Adaptive Fuzzy Logic-Based Controller for Wheeled Mobile Robots Implemented in the Leader-Follower Formation Approach
Received: 15 November 2020 | Revised: 14 January 2021 and 22 January 2021 | Accepted: 24 January 2021 | Online: 11 April 2021
This paper presents a new design of an adaptive fuzzy logic control by implementing the leader-follower approach. The principle is to modify the feedback control of non-holonomic Wheeled Mobile Robot (WMR) to be adaptive according to a fuzzy controller in the control loop, in order to adjust the feedback control gains according to the distance error between the reference path and the real position. The trajectory tracking control for a single WMR is extended to the formation control for two WMRs in which the first one is the leader and the second is the follower. Simulation results are presented to demonstrate the effectiveness of the proposed controller.
Keywords:adaptive fuzzy control, feedback control, Wheeled Mobile Robot (WMR), leader-follower formation, trajectory tracking control, non-holonomic
S. Sang, H. Wu, J. Zhao, and Q. An, "Fuzzy Logic Control for Wheeled Mobile Robots," in 2009 Sixth International Conference on Fuzzy Systems and Knowledge Discovery, Tianjin, China, Aug. 2009, vol. 6, pp. 237-241. https://doi.org/10.1109/FSKD.2009.241
R. B. Meshram, "Motion Control of Wheeled Mobile Robots Using Fuzzy Logic," International Journal of Recent Technology and Engineering, vol. 2, no. 3, pp. 89-93, 2013.
T. Das and I. N. Kar, "Design and implementation of an adaptive fuzzy logic-based controller for wheeled mobile robots," IEEE Transactions on Control Systems Technology, vol. 14, no. 3, pp. 501-510, May 2006. https://doi.org/10.1109/TCST.2006.872536
T. T. Mac, C. Copot, R. D. Keyser, T. D. Tran, and T. Vu, "MIMO Fuzzy Control for Autonomous Mobile Robot," Journal of Automation and Control Engineering, vol. 3, no. 6, pp. 65-70, 2015. https://doi.org/10.12720/joace.4.1.65-70
H. Omrane, M. S. Masmoudi, and M. Masmoudi, "Fuzzy Logic Based Control for Autonomous Mobile Robot Navigation," Computational Intelligence and Neuroscience, vol. 2016, Sep. 2016, Art. no. 9548482. https://doi.org/10.1155/2016/9548482
A. Chatraei and H. Javidian, "Formation control of mobile robots with obstacle avoidance using fuzzy artificial potential field," in 2015 IEEE International Workshop of Electronics, Control, Measurement, Signals and their Application to Mechatronics (ECMSM), Liberec, Czech Republic, Jun. 2015, pp. 1-6. https://doi.org/10.1109/ECMSM.2015.7208710
M. A. Molina-Villa, D. R. Avendaño-Florez, L. E. Solaque-Guzman, and N. F. Velasco-Toledo, "Fuzzy logic controller for cooperative mobile robotics implemented in leader-follower formation approach," Revista Facultad de Ingeniería Universidad de Antioquia, no. 76, 2015. https://doi.org/10.17533/udea.redin.n76a03
Kim C. Ng and M. M. Trivedi, "Multirobot convoying using neuro-fuzzy control," in Proceedings of 13th International Conference on Pattern Recognition, Vienna, Austria, Aug. 1996, vol. 4, pp. 417-421. https://doi.org/10.1109/ICPR.1996.547600
T. Balch and R. C. Arkin, "Behavior-based formation control for multirobot teams," IEEE Transactions on Robotics and Automation, vol. 4, no. 6, pp. 926-939, Dec. 1998. https://doi.org/10.1109/70.736776
Kar-Han Tan and M. A. Lewis, "Virtual structures for high-precision cooperative mobile robotic control," in Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS '96, Osaka, Japan, Nov. 1996, vol. 1, pp. 132-139.
J.-L. Wang and H.-N. Wu, "Leader-following formation control of multi-agent systems under fixed and switching topologies," International Journal of Control, vol. 85, no. 6, pp. 695-705, Jun. 2012. https://doi.org/10.1080/00207179.2012.662720
L. Consolini, F. Morbidi, D. Prattichizzo, and M. Tosques, "A Geometric Characterization of Leader-Follower Formation Control," in Proceedings 2007 IEEE International Conference on Robotics and Automation, Rome, Italy, Apr. 2007, pp. 2397-2402. https://doi.org/10.1109/ROBOT.2007.363678
T. Gustavi and X. Hu, "Observer-Based Leader-Following Formation Control Using Onboard Sensor Information," IEEE Transactions on Robotics, vol. 24, no. 6, pp. 1457-1462, Dec. 2008. https://doi.org/10.1109/TRO.2008.2006244
L. Consolini, F. Morbidi, D. Prattichizzo, and M. Tosques, "Leader-follower formation control of nonholonomic mobile robots with input constraints," Automatica, vol. 44, no. 5, pp. 1343-1349, May 2008. https://doi.org/10.1016/j.automatica.2007.09.019
Z. Ying and L. Xu, "Leader-follower formation control and obstacle avoidance of multi-robot based on artificial potential field," in The 27th Chinese Control and Decision Conference (2015 CCDC), Qingdao, China, May 2015, pp. 4355-4360. https://doi.org/10.1109/CCDC.2015.7162695
Y. Dai and S.-G. Lee, "The leader-follower formation control of nonholonomic mobile robots," International Journal of Control, Automation and Systems, vol. 10, no. 2, pp. 350-361, Apr. 2012. https://doi.org/10.1007/s12555-012-0215-x
M. Boubezoula, A. Hassam, and O. Boutalbi, "Robust-flatness Controller Design for a Differentially Driven Wheeled Mobile Robot," International Journal of Control, Automation and Systems, vol. 16, no. 4, pp. 1895-1904, Aug. 2018. https://doi.org/10.1007/s12555-017-0408-4
F. N. Martins, W. C. Celeste, R. Carelli, M. Sarcinelli-Filho, and T. F. Bastos-Filho, "An adaptive dynamic controller for autonomous mobile robot trajectory tracking," Control Engineering Practice, vol. 16, no. 11, pp. 1354-1363, Nov. 2008. https://doi.org/10.1016/j.conengprac.2008.03.004
S. Ahmed and M. N. K. and R. N. K. Loh, "Control Analysis and Feedback Techniques for Multi Agent Robots," Multiagent Systems, Jan. 2009. https://doi.org/10.5772/6597
V. H. Nguyen, H. Nguyen, M. T. Cao, and K. H. Le, "Performance Comparison between PSO and GA in Improving Dynamic Voltage Stability in ANFIS Controllers for STATCOM," Engineering, Technology & Applied Science Research, vol. 9, no. 6, pp. 4863-4869, Dec. 2019. https://doi.org/10.48084/etasr.3032
M. Fouzia, N. Khenfer, and N. E. Boukezzoula, "Robust Adaptive Tracking Control of Manipulator Arms with Fuzzy Neural Networks," Engineering, Technology & Applied Science Research, vol. 10, no. 4, pp. 6131-6141, Aug. 2020. https://doi.org/10.48084/etasr.3648
How to Cite
MetricsAbstract Views: 327
PDF Downloads: 337
Copyright (c) 2021 Authors
This work is licensed under a Creative Commons Attribution 4.0 International License.
Authors who publish with this journal agree to the following terms:
- Authors retain the copyright and grant the journal the right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) after its publication in ETASR with an acknowledgement of its initial publication in this journal.