Loading...

Designing an Adaptive Neuro-Fuzzy Controller for Path Tracking of a Four-Wheel Omnidirectional Mobile Robot

Dastranj, Mohammad | 2024

37 Viewed
  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 57150 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Sayyaadi, Hassan
  7. Abstract:
  8. In the modern world, robots perform the duties that are either impossible for humans to perform or humans cannot do it with the desired precision. Through time, the number and the importance of the duties given to robots have increased and this matter shows how important the task of robot control is. Amongst different types of robots, mobile robots can be named that are useful in tasks such as transportation. In modelling dynamic systems and controlling them, there are always differences between the real situation and simulations due to uncertainties. These uncertainties can be resulted by the modelling assumptions, reported values of measurements and mathematical calculations. Due to this reason, creating a way to control dynamic systems based on experimental data can be beneficial. For this purpose, an adaptive neuro-fuzzy controller for controlling a four-wheel omnidirectional mobile robot with Mecanum wheels is presented in this research to fulfill this goal. After deriving the robot’s equations of motion, a linear controller using feedback linearization and pole placement technique is designed in order to provide the training data for the neuro-fuzzy controller. Then, by running a simulation using the mentioned controller, the required training data are achieved and the neuro-fuzzy controller is trained. Finally, the neuro-fuzzy controller is used in a simulation and the results are compared to that of a sliding-mode controller as the most common non-linear controller. The simulation results show that the aims of this research are fulfilled
  9. Keywords:
  10. Dynamic System Analysis ; Adaptive Neuro Controller ; Feedback Linearization ; Sliding Mode Controller ; Four-Wheel Omnidirectional Robot ; Fuzzy Uncertainty

 Digital Object List

 Bookmark

No TOC