Fuzzy logic control of agile dynamics of a wheel locomotion module
This paper presents a computational study of a tyre slippage control of an open-link locomotion module that is comprised of one wheel with a dc motor, a gear reduction set, and a suspension. The proposed design of automatic control significantly reduced the module’s tyre slippage in severe terrain conditions despite of incorrect or spoofed control inputs into the system. The reduction of the tyre slippages was achieved by smoothing the transients of the original inputs. Furthermore, the designed controller managed the elastic dynamics of the rotational multi-body system while keeping the response time of the system at a specified level. Takagi-Sugeno type fuzzy logic controller was selected for the purpose of this study due to its computational efficiency and continuity of the output space. A method to smooth an original control signal was based on splitting the time domain of the signal into sub-domains with certain properties.