WSEAS Transactions on Systems
Print ISSN: 1109-2777, E-ISSN: 2224-2678
Volume 19, 2020
Passive Adaptive Network Fuzzy Inference Controller Based wheeled Mobile Robot
Authors: ,
Abstract: Passive adaptive network fuzzy inference controllerby teleoperation based wheeled mobile robot navigationand wheel slippage has been envisaged in this paper. Apassivity controller mode is employed to render the obstacleavoidance for wheeled mobile robot thereby ensuring incidentfree navigation particularly unlimited workspace andsurface slippage of coordination of master robot positionand slave robot velocity. In order to achieve system stabilityeffective control strategies has been formulated. Thesestrategies bypass robot slippage and skidding due to softcomputing.Perfect position tracking of the master/ slaverobot with Simpson 1/3 rule based adaptive neural networkfuzzy inference system is reducing the error in terms ofunavoidable and acceptable forces, which is confirmed bypassivity. We demonstrated theoretically, the systems stabilityis shown via its passivity hybrid system in that force feltby the human operator is approximately equal to the forcesapplied by the environment force and sensor predictor ofslave robot, which is a satisfactory performance outcome.Simulation results verify the effectiveness of the proposedscheme for teleoperation under passivity controller.
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Keywords: Autonomous wheeled mobile robot, Passivity, adaptive network fuzzy inference system,Simpson’s 1/3 rule, teleoperation system.
Pages: 284-294
DOI: 10.37394/23202.2020.19.32