A Fast Nonsingleton Type-3 Fuzzy Predictive Controller for Nonholonomic Robots Under Sensor and Actuator Faults and Measurement Errors

• Published in: IEEE transactions on systems, man, and cybernetics. Systems Vol. 54; no. 7; pp. 4175 - 4187
• Main Authors: Mohammadzadeh, Ardashir, Taghavifar, Hamid, Zhang, Youmin, Zhang, Wenjun
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.07.2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Compensators; Constrained control; Controllers; Errors; Fault detection; Faults; fuzzification; Fuzzy control; Fuzzy logic; Mobile robots; Neural networks; Nonlinear control; Predictive control; Robot kinematics; Robot sensing systems; Robots; Service robots; slippage; Tracking control; type-3 fuzzy logic; Uncertainty; Wheels
• ISSN: 2168-2216; 2168-2232
• DOI: 10.1109/TSMC.2024.3375812

This study proposes a novel control scheme for simultaneously tracking and stabilizing nonholonomic wheeled mobile robots (NWMRs) subject to actuator and sensor faults, measurement errors, uncertain dynamics, and time-varying slippage/skid disturbances. To this end, a nonlinear model based on a type-3 (T3) fuzzy logic system (FLS) is developed for NWMR tracking and stabilization. Furthermore, a nonlinear model predictive controller (NMPC) is designed analytically without employing iterative computations, thus achieving fast performance. A new approach of type-3 nonsingleton fuzzification is introduced to handle measurement errors. Additionally, faults in the actuators and sensors are detected by a supervisory scheme and eliminated by a devised compensator. Finally, extensive simulations and experimental validations are conducted to further verify the effectiveness of the proposed scheme, along with a comparative analysis of several benchmarking methods.