Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Fuzzy Logic Control for Mixed conventional/braking Actuation Mobile
  Robots   The use of conventional actuators in robotic systems (electric motors in
particular), while often offering advantages in terms of flexibility and
controllability, suffer from primary actuator failure,due to unexpected
complexities in their environment, which can lead to loss of controllability.
Conventional actuators can impose disadvantages on mechanical complexity,
weight, and cost. Here,the Mixed conventional/braking Actuation Mobile Robot
(MAMR), a new mobile robot platform,is proposed to tackle such drawbacks in
actuation and explore the use and control of braking actuation. This platform
substitutes the drive motors used in Ackermann steering with brakes that have
only two states, ON and OFF. Additionally, the conventional drive wheels are
replaced by a single,omni-directional wheel that only supports a driving force
in the robots longitudinal direction. The ability of braking actuators in
providing controllability under actuator failure is one of the primary
motivations of this work. To validate the reliability and accuracy of MAMR
approach, this paper studies the design of such robotic systems, the design and
synthesis of fuzzy logic controllers along with the experimental assessments of
these controllers in real-time. The experimental tests point out the controller
performance enhancement using fuzzy logic controllers and MAMR.

14
The categories of this paper are: math-ph
37
The categories of this paper are: supr-con
4
The categories of this paper are: cond-mat
26
The categories of this paper are: bayes-an
36
The categories of this paper are: cmp-lg
29
The categories of this paper are: funct-an
0
The categories of this paper are: hep-ph
12
The categories of this paper are: nucl-th
6
The categories of this paper are: astro-ph
5
The categories of this paper are: gr-qc
27
The categories of this paper are: comp-gas
18
The categories of this paper are: econ
2
The categories of this paper are: math
35
The categories of this paper are: mtrl-th
28
The categories of this paper are: alg-geom
10
The categories of this paper are: q-bio