IEEE Transactions on Systems Man and Cybernetics · 1990 · 85 citations · 18 references
EngineeringComputer ScienceMechatronics EngineeringArtificial IntelligencePath PlanningRoboticsControl SystemsControl TheoryMotion ControlSpeed ControlTracking SystemsFuzzy ControlFuzzy Control SystemsFuzzy Inference SystemsFuzzy Rule-based SystemsIntelligent ControlPath TrackingPath Tracking ControlTrajectory Tracking Control
A heuristic controller is presented that takes the form of a set of fuzzy linguistic rules. Simulations show that the fuzzy logic controller (FLC) yields better results than the conventional PD controller. A self-paced fuzzy tracking controller (SPFTC) designed for two-dimensional path tracking is also presented. The SPFTC adjusts the tracking speed in accordance with contour conditions such as curvature; the fuzzy-rule-based adjustment of the tracking speed improves performance in terms of tracking precision and travel time. Advantages of the FLC and SPFTC are demonstrated by a simulation study.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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