期刊論文
| 學年 | 100 |
|---|---|
| 學期 | 2 |
| 出版（發表）日期 | 2012-05-01 |
| 作品名稱 | Switching T-S Fuzzy Model-Based Guaranteed Cost Control for Two-Wheeled Mobile Robots |
| 作品名稱（其他語言） | |
| 著者 | Sun, Chung-Hsun; Wang, Yin-Tien; Chang, Cheng-Chung |
| 單位 | 淡江大學機械與機電工程學系 |
| 出版者 | Kumamoto: I C I C International |
| 著錄名稱、卷期、頁數 | International Journal of Innovative Computing, Information and Control 8(5)pt.A, pp.3015-3028 |
| 摘要 | Based on the switching Takagi-Sugeno (T-S) fuzzy control theorem, this study investigates the position control for a developed differential-drive two-wheeled mobile robot (TWMR). The developed TWMR is introduced, followed by a description of the kinematic equations of the TWMR, which are represented by exact T-S fuzzy systems. The uncontrollable problem of the derived T-S fuzzy model is avoided by considering the switching section mechanism. The switching T-S fuzzy model is synthesized by a switching parallel distributed compensation. Moreover, a guaranteed cost control issue is considered to obtain proper control signals and improve state responses for the developed TWMR. A feasible controller is obtained by solving the derived linear matrix inequalities (LMIs). Finally, the proposed control law is implemented on the developed TWMR, demonstrating the effectiveness of the control design. |
| 關鍵字 | two-wheeled mobile robot;switching T-S fuzzy system;guaranteed cost control |
| 語言 | en |
| ISSN | 1349-4198 |
| 期刊性質 | 國外 |
| 收錄於 | SCI |
| 產學合作 | |
| 通訊作者 | Sun, Chung-Hsun |
| 審稿制度 | 是 |
| 國別 | JPN |
| 公開徵稿 | |
| 出版型式 | ,紙本 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/89075 ) |