期刊論文
學年 | 93 |
---|---|
學期 | 2 |
出版(發表)日期 | 2005-06-01 |
作品名稱 | Fuzzy gain scheduling for parallel parking a car-like robot |
作品名稱(其他語言) | |
著者 | Chiu, Chian-song; Lian, Kuang-yow; Liu, Peter |
單位 | 淡江大學電機工程學系 |
出版者 | Piscataway: Institute of Electrical and Electronics Engineers(IEEE) |
著錄名稱、卷期、頁數 | IEEE Transactions on Control Systems Technology 13(6), pp.1084-1092 |
摘要 | This brief proposes a fuzzy gain scheduling strategy with an application on parallel parking car-like robots. First, the fuzzy gain scheduling strategy is introduced as a combination of a local path tracking controller and fuzzy rule based techniques. In light of human driver experience in parallel parking, the control goal is achieved by repeatedly scheduling parameters and tracking local paths. Meanwhile, a time-varying fuzzy sliding mode controller (TFSC) is developed as the local tracking controller to guarantee robust performance and fast tracking response for a segment of preplanned reference path. Different to traditional gain scheduling, the overall controller combining the TFSC and a fuzzy gain scheduler has advantages in regards of 1) a small data base; 2) an enlarged workspace of interest; and 3) allowing zero velocity crossing. Then, the scenario of parallel parking car-like robots is implemented in presence of nonholonomic and input saturation constraints. Finally, numerical simulation and practical experiment are carried out to show the expected performances. |
關鍵字 | Car-like robot; fuzzy gain scheduling; fuzzy logic control; gain scheduling; nonholonomic constraint |
語言 | en_US |
ISSN | 1063-6536 |
期刊性質 | 國外 |
收錄於 | |
產學合作 | |
通訊作者 | |
審稿制度 | |
國別 | USA |
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/987654321/55124 ) |