Fuzzy Coordinated Control of an Electric Drive System of a Four-Wheel Mobile Robot

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Authors: Meshkovskiy E. O., Kurmashev A. D., Frolov V. Ya.

Annotation: This paper presents the construction of a fuzzy system controller of a coordinated control system of an electric drive system for a four-wheel mobile robot with two differential drive units. The structure of this system regulator, the rule base, and the expression of the relationship between its elements are shown. In the article the authors show the results of computer experiments in graphs of trajectory error for different configurations of the robot and the system controller coefficient values.

Keywords: wheeled robot, coordinated control system, system regulator, fuzzy regulator, differential drive