Passive Adaptive Network Fuzzy Inference Controller Based wheeled Mobile Robot

摘要

Passive adaptive network fuzzy inference controller by teleoperation based wheeled mobile robot navigation and wheel slippage has been envisaged in this paper. A passivity controller mode is employed to render the obstacle avoidance for wheeled mobile robot thereby ensuring incident free navigation particularly unlimited workspace and surface slippage of coordination of master robot position and slave robot velocity. In order to achieve system stability effective control strategies has been formulated. These strategies bypass robot slippage and skidding due to soft computing. Perfect position tracking of the master/slave robot with Simpson 1/3 rule based adaptive neural network fuzzy inference system is reducing the error in terms of unavoidable and acceptable forces, which is confirmed by passivity. We demonstrated theoretically, the systems stability is shown via its passivity hybrid system in that force felt by the human operator is approximately equal to the forces applied by the environment force and sensor predictor of slave robot, which is a satisfactory performance outcome. Simulation results verify the effectiveness of the proposed scheme for teleoperation under passivity controller.