6533b829fe1ef96bd128a410
RESEARCH PRODUCT
Predictive Intelligent Fuzzy Control for Cooperative Motion of Two Nonholonomic Wheeled Cars
Maurizio MellusoFrancesco Maria Raimondisubject
Nonholonomic systemEngineeringbusiness.industryControl engineeringFuzzy control systemKalman filterMotion controlFuzzy logicModel predictive controlSettore ING-INF/04 - AutomaticaControl theoryPosition (vector)Intelligent control Fuzzy control Motion control Kinematics Velocity control Intelligent transportation systems Delay effects Vehicle dynamics State estimation Error correctionbusinessIntelligent controldescription
In this paper a problem of intelligent cooperative motion control of two wheeled nonholonomic cars (target and follower) is considered. Once a target car converges to a fixed state (position and orientation), a follower car coming from different position and orientation, converges to the state above, without excessive delay between the known arrival time of the target car and the arrival time of the follower. In this sense we present a new predictive fuzzy control system. A Kalman's filter and an odometric model are used to predict the future position and orientation of the target car. The prediction above is employed to plane a circular nonholonomic reference motion for the follower car. A fuzzy closed loop motion control for the follower, where the asymptotical stability of the motion errors is based on the properties of the Fuzzy maps, assures the stabilization of the follower car in the circular planned motion and the reaching of the target car with good dynamical performances.
| year | journal | country | edition | language |
|---|---|---|---|---|
| 2007-09-01 | 2007 IEEE Intelligent Transportation Systems Conference |