Simpsons 13 base fuzzy neural network with passive controller of wheeled mobile robot system

Joint Authors

Suganya, K.
Arulmozhi, V.

Source

Arab Journal of Basic and Applied Sciences

Issue

Vol. 28, Issue 1 (31 Dec. 2021), pp.244-254, 11 p.

Publisher

University of Bahrain College of Science

Publication Date

2021-12-31

Country of Publication

Bahrain

No. of Pages

11

Main Subjects

Information Technology and Computer Science

Abstract EN

The paper investigates Passivity of Simpson 1/3 rule fuzzy neural network controller by teleoperation-based wheeled mobile robot navigation and wheel slippage.

To render the obstacle avoidance for wheeled mobile robot and ensuring incident-free navigation particularly unlimited workspace and surface slippage of coordination for master robot position and slave robot velocity, a passivity controller mode is employed.

Effective control strategies are formulated to achieve system stability in which soft-computing methodology is accessed to bypass robot wheel slippage and skidding.

Soft-computing based fuzzy neural network system is framed through Simpson 1/3 rule for reducing master/slave robot position error on behalf of unavoidable and acceptable forces, which is confirmed by teleoperation system.

We concluded mathematically, the system stability which has been shown via its passivity of the fuzzy neural network controller.

The forces which can be handled by the human operator are approximately equal to the forces applied by the environmental force and sensor predictor of slave robot whichever comes under the unlimited workspace.

Simulation results are verified with the effect of the proposed controller.

Index Terms: Autonomous wheeled mobile robot, Passivity, adaptive network fuzzy inference system, Simpson’s 1/3 rule, teleoperation system

American Psychological Association (APA)

Suganya, K.& Arulmozhi, V.. 2021. Simpsons 13 base fuzzy neural network with passive controller of wheeled mobile robot system. Arab Journal of Basic and Applied Sciences،Vol. 28, no. 1, pp.244-254.
https://search.emarefa.net/detail/BIM-1340628

Modern Language Association (MLA)

Suganya, K.& Arulmozhi, V.. Simpsons 13 base fuzzy neural network with passive controller of wheeled mobile robot system. Arab Journal of Basic and Applied Sciences Vol. 28, no. 1 (2021), pp.244-254.
https://search.emarefa.net/detail/BIM-1340628

American Medical Association (AMA)

Suganya, K.& Arulmozhi, V.. Simpsons 13 base fuzzy neural network with passive controller of wheeled mobile robot system. Arab Journal of Basic and Applied Sciences. 2021. Vol. 28, no. 1, pp.244-254.
https://search.emarefa.net/detail/BIM-1340628

Data Type

Journal Articles

Language

English

Notes

Includes bibliographical references : p. 253-254

Record ID

BIM-1340628