Re-adhesion Control with Estimated Adhesion Force Coefficient for Wheeled Robot using Fuzzy Logic

초록

This paper proposes a re-adhesion control system based on an ordinary disturbance observer. The re-adhesion control is achieved by reducing the driving torque enough to give the maximum adhesion force coefficients.In addition, this algorithm controls the recovered driving torque for retaining the re-slip. Fuzzy logic control is very useful with prevention of the slip phenomena compared with a fuzzy PI controller in the performance of re-adhesion control strategy. For the configuration of fuzzy sets, the proposed algorithm applied the Takagi-Sugeno model. These procedures are implemented using a Pionner 2-DXE mobile robot platform.