Switching T-S Fuzzy Model-Based Guaranteed Cost Control for Two-Wheeled Mobile Robots
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
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