Z-number based fuzzy system for control of omnidirectional robot

Abstract

This paper presents the development of a fuzzy inference system using Z-number for omnidirectional robot control. The fuzzy inference system is constructed for control of the linear and angular speed of the robot. For this aim, using expert knowledge the fuzzy Z-rules are designed for robot-soccer control. Using the designed rule base and interpolative reasoning the development of the fuzzy control system based on Z-number is carried out. The simulation of developed fuzzy control algorithm based on Z-number has shown satisfactory results at runtime. The experimental results demonstrate the efficiency of using a Z-number in the design of control system.