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Synthesis and research of neuro-fuzzy observer of clamping force for mobile robot automatic control system

This paper is dedicated to solving the problem of a fuzzy observer development for the clamping force automatic control system of a mobile robot with magnetically-operated drivers for moving on inclined and vertical ferromagnetic surfaces. An approach based on physical rules of field theory to determine the clamping forces of electromagnets is also considered. The authors propose to synthesize the clamping force observer using hybrid neuro-fuzzy systems based on experimental data. The analysis of computer simulation results in the form of static characteristics graphs of the force observer confirms the high accuracy of the developed neuro-fuzzy observer to the real processes.