Z-Number Based System for Trajectory Tracking of Omnidirectional Robot

This paper introduces the design and implementation of a Z-number based fuzzy inference system (ZNFIS) employed for controlling omnidirectional robots. The structure of ZNFIS for omnidirectional robot control is proposed. Using Z-number the control algorithm of the 4-wheels of the robot soccer is developed. The basic operational modules used for control of robot soccer is described. The Z fuzzy rule base (ZFRB) used for the robot control is designed, and its inference process which is based on an interpolative reasoning mechanism is developed. Using distance measure the inference mechanism of ZNFIS is presented. The developed ZFRB and interpolative reasoning mechanism are employed for mobile robot trajectory tracking. Using test examples the simulations of path tracking performance of robot soccer have been performed. The comparative simulation results with other control systems indicate the efficiency of using ZNFIS in control omnidirectional robots.