TY - CONF T1 - Fuzzy Decentralized Control for guidance of a convoy of robots in non-linear trajectories T2 - IEEE Conference on Emerging Technologies and Factory Automation (ETFA), 2010 Y1 - 2010 A1 - Carlos Santos A1 - Felipe Espinosa A1 - Daniel Pizarro A1 - Fernando Valdés A1 - Enrique Santiso A1 - Isabel Díaz AB - This article presents a control solution for the guidance of wheeled convoy units in non-linear trajectories. The proposal consists of a Mamdani fuzzy controller to solve the Decentralized Control problem as applied to a set of units following a leader, whilst guaranteeing the so called “string stability” condition of the convoy. Fuzzy control design is described for each of the follower units, whose action is determined by their own motion state, that of its predecessor and the leader’s trajectory. The “string stability” is ensured by the adjustment of the linear velocity transfer function for each unit. Results are given for simulated and experimental trials carried out with P3-DX robot units sharing a wireless network. JF - IEEE Conference on Emerging Technologies and Factory Automation (ETFA), 2010 ER -