ANFIS Controller for Non-holonomic Robots

  • Ting Wang
  • Christophe Sabourin
  • Kourosh Madani
Keywords: Anfis, Controller, Robot, nonholonomic robot


In this paper, a control strategy for a non-holonomic robot based on an Adaptive Neural Fuzzy Inference System is proposed. The neuro-controller makes it possible for the robot to track a given reference trajectory. After a short introduction about Adaptive Neural Fuzzy Inference System, the control strategy which is used on our virtual non-holonomic robot is described. And finally, the simulations’ results where the robot has to pass into a narrow path and also the first validation results concerning the implementation of the proposed concepts on a real robot is given.


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How to Cite
Wang, T., Sabourin, C., & Madani, K. (2011). ANFIS Controller for Non-holonomic Robots. Majlesi Journal of Electrical Engineering, 5(2). Retrieved from