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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
Conference proceeding   Peer reviewed

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

Leslie Astudillo, Patricia Melin, Oscar Castillo and Raja Rizwan Hussain
SOFT COMPUTING APPLICATIONS IN OPTIMIZATION, CONTROL, AND RECOGNITION, Vol.294, pp.3-26
Studies in Fuzziness and Soft Computing
01/01/2013
DOI: https://doi.org/10.1007/978-3-642-35323-9_1

Abstract

Computer Science Computer Science, Artificial Intelligence Computer Science, Interdisciplinary Applications Science & Technology Technology
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.

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