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
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
國別 USA
出版型式 紙本

機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/55124 )