Design of Fuzzy Enhanced Hierarchical Motion Stabilizing Controller of Unmanned Ground Vehicle in Three DimensionalSpace
- 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/).
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 -