教師資料查詢 | 類別: 期刊論文 | 教師: 劉寅春 Peter Liu (瀏覽個人網頁)

標題:Fuzzy gain scheduling for parallel parking a car-like robot
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
語言英文(美國)
ISSN1063-6536
期刊性質國外
收錄於
產學合作
通訊作者
審稿制度
國別美國
公開徵稿
出版型式紙本
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