@inproceedings{878730ea97474ddcad0ea60d6c58d5c3,
title = "Hybrid control for an autonomous wheeled mobile robot under perturbed torques",
abstract = "This paper focuses on the control of wheeled mobile robot under bounded torque disturbances. Hybrid tracking controller for the mobile robot was developed by considering its kinematic model and Euler-Lagrange dynamics. The procedure consist in minimizing the stabilization error of the kinematic model through genetic algorithm approach while attenuation to perturbed torques is made through type-2 Fuzzy Logic Control (FLC) via backstepping methodology. Type-2 fuzzy logic is proposed to synthesize the controller for the overall system which is claimed to be a robust tool for related applications. The theoretical results are illustrated through computer simulations of the closed-loop system.",
author = "Leslie Astudillo and Oscar Castillo and Aguilar, {Luis T.} and Ricardo Mart{\'i}nez",
year = "2007",
doi = "10.1007/978-3-540-72950-1_59",
language = "Ingl{\'e}s",
isbn = "9783540729174",
series = "Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)",
publisher = "Springer Verlag",
pages = "594--603",
booktitle = "Foundations of Fuzzy Logic and Soft Computing - 12th International Fuzzy Systems Association World Congress, IFSA 2007, Proceedings",
address = "Alemania",
note = "12th International Fuzzy Systems Association World Congress, IFSA 2007 ; Conference date: 18-06-2007 Through 21-06-2007",
}