Fuzzy Control of the Inspection Robot for Obstacle-Negotiation

This paper proposes the structure of hierarchical behavior controller for the inspection robot. And a fuzzy controller is designed based on the structure to realize the turning behavior of robot. The inspection robot is a multivariable, nonlinear, strongly coupling and underactuated dynamic system. It is difficult to establish an accurate mathematic model of the system. The fuzzy control method can be applicable to those objects which hardly have an accurate mathematic model or whose system parameters are variable. This paper also discusses the stability of fuzzy control system. The experiment results show that the designed fuzzy controller can meet the requirement of the obstacle-negotiation control system.