Implementation of Fuzzy Multimodel Control in Speed ​​Tracking of Mobile Robots Applied to Robot Soccer

EasyChair Preprint 15214

Abstract

This work addresses control problems of mobile robots with nonholonomic constraints and differential traction, specifically soccer robots in the VSS (Very Small Size) category. The motors are modeled as a first-order system, with data obtained by step response. The discrete-time root locus technique is used to adjust the proportional and integral gains of the local controllers. Finally, a global controller is developed using the fuzzy multimodel intelligent control strategy, and implementations are made to verify the speed tracking dynamics of the robot motors.

Keyphrases: Acionamento diferencial, Controle multimodelo fuzzy, Restrições não holonômicas, Robôs móveis

@booklet{EasyChair:15214,
  author    = {Mateus Gomes Miquelanti and Luiz Felipe Pugliese and Waner Wodson Aparecido Gonçalves Silva and Tiago Gaiba Oliveira and Juliano de Almeida Monte-Mor and Rodrigo Aparecido da Silva Braga},
  title     = {Implementation of Fuzzy Multimodel Control in Speed ​​Tracking of Mobile Robots Applied to Robot Soccer},
  howpublished = {EasyChair Preprint 15214},
  year      = {EasyChair, 2024}}