Controlador fuzzy em cascata no ângulo de giro por propagação de referência de robôs móveis multi-articulados: Caso real

摘要

This article discusses the maneuver's control of multi-articulated vehicles or mobile robots, specifically for backward movements, that are non-linear and have hard analytical characterization. A Control on Rotation by Refence Propagation (CGPR) controller is proposed based on angle of rotation and fuzzy theory. This solution is compared with Global controller one, proposed in the literature. That performance analysis made with a real aplication in a three degrees of freedom prototype, Truck-Trailer-Trailer.