DL là viết tắt của khu vực lỗi lớn, trong đó có LB và RB, mức độ thành viên của ed, và DS đại diện cho khu vực lỗi nhỏ, bao gồm cả LS và RS, mức độ thành viên của Ed. tr là việc ước tính tỷ lệ quỹ đạo góc. k có thể được tính bởi phương trình này e: | 360 Applications of MATLAB in Science and Engineering where fẲDL stands for the large error region including LB and RB membership degree of ed and JiiS represents the small error region including LS and RS membership degree of ed . 0tr is the estimation of the trajectory-angle rate. kg can be worked out by this equation kg 6L ge keL es ge keS ue where ựgL stands for the large error region including LB and RB membership degree of 0e and ựgS denotes the small error region including LS and RS membership degree of 0e. kDL and kgL express the standard coefficients of the large error region of ed and 0e kDS and keS indicate the small error region of ed and 0e respectively. kt is the proportional coefficients of the system sample time TS . fMC is deduced as follows Fig. 6. Tracking trajectory of the robot. In this Figure the red dashdotted line stands for the trajectory tracked by the robot. The different color dotted lines represent the bounderies of the different error regions of ed . When the robot moves into the center region at the orientation of a the motion state of the robot can be divided into two kinds of situations. Situation One Assume that a has decreased into the rule admission angular range of center region . 0 a 0cent where 0cent which is subject to 7 is the critical angle of center region. To make the robot approach the trajectory smoothly the planner module requires the robot to move along a certain circle path. As the robot moves along the circle path in Fig. 6 the values of ed and Qe decrease synchronously. In Fig. 6 Ằ is the variety range of ed in the center region. a is the angle between the orientation of the robot and the trajectory when the robot just enters the center region. R - 2ấ a1 can be worked out by geometry and in addition the value of ais very small so the process of approaching trajectory can be represented as A. Aa a . Ằ Situation Two When a 0 or a 9eni. If the motion decision from the planner module were the same as Situation
