Implementation of Fuzzy Multimodel Control in Speed Tracking of Mobile Robots Applied to Robot Soccer

Authors

  • Mateus G. Miquelanti Instituto de Ciências Tecnológicas, Universidade Federal de Itajubá
  • Luiz F. Pugliese Instituto de Ciências Tecnológicas, Universidade Federal de Itajubá
  • Waner W. A. G. Silva Instituto de Ciências Tecnológicas, Universidade Federal de Itajubá
  • Tiago G. de Oliveira Instituto de Ciências Tecnológicas, Universidade Federal de Itajubá
  • Juliano A. Monte-Mor Instituto de Ciências Tecnológicas, Universidade Federal de Itajubá
  • Rodrigo A. S. Braga Instituto de Ciências Tecnológicas, Universidade Federal de Itajubá

Keywords:

mobile robots, non-holonomic constraints, differential wheel drive, multi-models fuzzy

Abstract

This work addresses control problems for mobile robots with non-holonomic constraints and differential traction, specifically football robots in the VSS (Very Small Size) category. The motors are modeled as a first-order system, with data obtained by step response. The discrete-time root locus technique is used to adjust the proportional and integral gains of the local controllers. Finally, a global controller is developed using the fuzzy multimodel intelligent control strategy, and implementations are made to verify the speed-tracking dynamics of the robot motors.

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Published

2024-10-18

Issue

Vol. 4 No. 1 (2024): CBA2024

Section

Articles