Fuzzy Variable Order Extremum-Seeking Controller Design for Mobile Robots

Year 2019, Volume: 7 Issue: 1, 81 - 87, 31.01.2019

Ozkan Atan

https://doi.org/10.17694/bajece.492482

Cited By: 2

Abstract

In this paper, we are
designed a fuzzy variable order extremum-seeking control (FVO-ESC) system for a
mobile robot. Fractional order controllers have advantages in the control of
nonlinear systems such as a wider area of stability and performance enhancement
in the presence of noise. The main proposal of the paper is to increase the
performance of the fractional order controller. So a variable order controller
was designed for a mobile robot, and a fuzzy logic controller was designed
according to user experiences to tune the controller order. The proposed
FVO-ESC approach has been validated the effects on nonlinear systems such as
the mobile robot system. It has been put forward in the preliminary
investigation that the order of the fractional order ESC controller affects the
overshoot and time to reach the target. The results suggested that a
variable-level controller would have better performance. The results show that
the proposed FVO-ESC control approach provides optimum performance for mobile robot
systems.

Keywords

Mobile robots, Variable Order Systems, Extremum-Seeking Control.

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