Motion Control for Backing up a Four Wheel Autonomous Robot by Fuzzy Method

The truck backer-upper problem, considered an acknowledged benchmark in nonlinear system identification, is an excellent test-bed for fuzzy control systems. A fuzzy controller, formulated on the basis of human understanding of the process or identified from measured control actions, can be regarded as an emulator of human operator. In this paper, a fuzzy control system is proposed that reduces the complexity of the control problem and enhances control. Simulation results demonstrate advantages on the control performance, convenience and feasibility.

کلیدواژه ها:

Fuzzy control ، Truck backer-upper problem ، Non-holonomic systems