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
Corresponding author: H. Medjoubi
Abstract
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-holonomicDownloads
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