As part of the development of a drone that can bring help and comfort to disabled people, we are developing a mobile platform based on four independent wheels of the 'Mecanum' type which also allow lateral-tangential movements in addition to those normally operational with cartwheels. In order to obtain maximum performance and reliability, some of the subsystems must no longer be entrusted to a deterministic logic but to a fuzzy one. In our case, it concerns the management of the power (torque) of the four independent motors, for which a solution based on the Takagi-Sugeno method is proposed.
Petritoli, E., Leccese, F. (2024). A Takagi-Sugeno Fuzzy Logic Motor Control for Robot for Assistance to Individuals with Impairments. In 2024 IEEE International Workshop on Metrology for Living Environment, MetroLivEnv 2024 - Proceedings (pp.509-513). Institute of Electrical and Electronics Engineers Inc. [10.1109/MetroLivEnv60384.2024.10615895].
A Takagi-Sugeno Fuzzy Logic Motor Control for Robot for Assistance to Individuals with Impairments
Petritoli E.;Leccese F.
2024-01-01
Abstract
As part of the development of a drone that can bring help and comfort to disabled people, we are developing a mobile platform based on four independent wheels of the 'Mecanum' type which also allow lateral-tangential movements in addition to those normally operational with cartwheels. In order to obtain maximum performance and reliability, some of the subsystems must no longer be entrusted to a deterministic logic but to a fuzzy one. In our case, it concerns the management of the power (torque) of the four independent motors, for which a solution based on the Takagi-Sugeno method is proposed.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
