Improving Posture Accuracy of Non-Holonomic Mobile Robot System with Variable Universe of Discourse
Abstract: This paper presents
a method to decrease imprecision and inaccuracy that have the tendency to influence
the posture of non-holonomic mobile robot by using the adaptive tuning of universe
of discourse. As such, the primary objective of the study is to force the
posture error of , , and towards zero. Hence, for each step of tuning the fuzzy
domain, about 20% of imprecision and inaccuracy had been added automatically
into the variable universe fuzzy, while the control input was bound via scaling
gain. Furthermore, the simulation results showed that the tuning of universe
fuzzy parameters could increase the performance of the system from the aspects
of response time and error for steady state through better control of
inaccuracy. Besides, the domains of universe fuzzy input [-4,4] and output
[0,6] exhibited good performance in inching towards zero values as the steady
state error was about 1% for x(t) position, 0.02% for y(t) position, and 0.16%
for θ(t) orientation, whereas the posture error in the given reference was
about 0.0002% .
Keywords: Non-holonomic
system, Kinematic model, Fuzzy logic controller, Posture error, Variable universe
of discourse
Author: Siti Nurmaini
Journal Code: jptkomputergg170099
