Multi-purpose mobile robots are used as models in the development of autonomous systems. They can also be used in multiple tasks, such as carrying materials to various environments, making measurements in hazardous areas, and performing specific operations such as reconnaissance and surveillance. Different control techniques are used in the speed and trajectory control of mobile robots. In this study, the trajectory and speed control of a tracked mobile robot (TMR) was carried out using an interval Type2 Takagi Sugeno Kang fuzzy logic controller (IT2TSKFLC). Simulation studies of the proposed control system were carried out in the Matlab/Simulink environment. The performance of the proposed IT2TSKFLC in speed and trajectory control of the mobile robot was compared with those of the classical PI controller and Type1 fuzzy logic controller (T1FLC). It has been demonstrated, through simulation studies, that IT2TSKFLC increases system performance and provides a more stable structure.
Tracked mobile robot, Type1 FLC, Interval Type2 TSK FLC, PI.
Osman DOĞMUŞ, Mahit GÜNEŞ, "Trajectory and Speed Control of Tracked Mobile Robot with Interval Type-2 TSK Fuzzy Logic Controller", Studies in Informatics and Control, ISSN 1220-1766, vol. 33(2), pp. 39-50, 2024. https://doi.org/10.24846/v33i2y202404
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