International Journal of Computational Intelligence Systems

Volume 4, Issue 6, December 2011, Pages 1168 - 1178

Design of Fuzzy Enhanced Hierarchical Motion Stabilizing Controller of Unmanned Ground Vehicle in Three DimensionalSpace

Authors
Yue Ma, Changle Xiang, Quanmin Zhu, Qingdong Yan, Alan Winfield
Corresponding Author
Yue Ma
Received 13 September 2011, Accepted 25 November 2011, Available Online 1 December 2011.
DOI
10.2991/ijcis.2011.4.6.8How to use a DOI?
Keywords
Unmanned Ground Vehicle, Hierarchical Control, Fuzzy Logic Enhanced, Stabilizing, Ground Disturbances, 3-D Space.
Abstract

In this paper, stabilizing control of tracked unmanned ground vehicle in 3-D space was presented. Firstly, models of major modules of tracked UGV were established. Next, to reveal the mechanism of disturbances applied on the UGV, two kinds of representative disturbances (slope and general disturbances in yaw motion) were discussed in depth. Consequently, an attempting PID method was employed to compensate the impacts of disturbances andsimulation results proved the validity for disturbance incited by slope force, but revealed the lack for general disturbance on yaw motion. Finally, a hierarchical fuzzy controller combined with PID controller was proposed. In lower level, there were two PID controllers to compensate the disturbance of slope force, and on top level, the fuzzy logic controller was employed to correct the yaw motion error based on the differences between the model and the real UGV, which was able to guide the UGV maintain on the stable state. Simulation results demonstrated the excellent effectiveness of the newly designed controller.

Copyright
© 2011, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Journal
International Journal of Computational Intelligence Systems
Volume-Issue
4 - 6
Pages
1168 - 1178
Publication Date
2011/12/01
ISSN (Online)
1875-6883
ISSN (Print)
1875-6891
DOI
10.2991/ijcis.2011.4.6.8How to use a DOI?
Copyright
© 2011, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - JOUR
AU  - Yue Ma
AU  - Changle Xiang
AU  - Quanmin Zhu
AU  - Qingdong Yan
AU  - Alan Winfield
PY  - 2011
DA  - 2011/12/01
TI  - Design of Fuzzy Enhanced Hierarchical Motion Stabilizing Controller of Unmanned Ground Vehicle in Three DimensionalSpace
JO  - International Journal of Computational Intelligence Systems
SP  - 1168
EP  - 1178
VL  - 4
IS  - 6
SN  - 1875-6883
UR  - https://doi.org/10.2991/ijcis.2011.4.6.8
DO  - 10.2991/ijcis.2011.4.6.8
ID  - Ma2011
ER  -