A Type-2 Fuzzy Cascade Control Architecture for Mobile Robots

Kumbasar T., Hagras H.

IEEE International Conference on Systems, Man, and Cybernetics (SMC), Manchester, United Kingdom, 13 - 16 October 2013, pp.3226-3231 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/smc.2013.550
  • City: Manchester
  • Country: United Kingdom
  • Page Numbers: pp.3226-3231
  • Istanbul Technical University Affiliated: Yes


The real-time path tracking control of mobile robots attracted considerable research interest since they inherit nonholonomic properties and uncertainties caused by the internal dynamics and/or feedback sensors. In this paper, we will propose a cascade control architecture, which includes the inner and outer control loops, for the path tracking control of mobile robots. In the proposed mobile robot cascade structure, interval type-2 fuzzy PID controllers are implemented as the outer and inner loop controllers to achieve a satisfactory tracking performance in presence of uncertainties. In this context, we will present a simple two stage mobile robot cascade design strategy. We will present real-time control experiments performed on the PIONEER 3-DX mobile robot to show the efficiency and the superior tracking performance of the type-2 fuzzy cascade control architecture in comparison with its conventional PID and type-1 fuzzy controllers counterparts in presence of uncertainties.