教師資料查詢 | 類別: 期刊論文 | 教師: 黃志良 CHIH-LYANG HUANG (瀏覽個人網頁)

標題:Fuzzy decentralized sliding-mode robust adaptive underactuatedcontrol for autonomous dynamic balance of a running electrical bicycle
學年97
學期1
出版(發表)日期2008/08/01
作品名稱Fuzzy decentralized sliding-mode robust adaptive underactuatedcontrol for autonomous dynamic balance of a running electrical bicycle
作品名稱(其他語言)
著者黃志良
單位淡江大學電機工程學系
出版者
著錄名稱、卷期、頁數IEEE International Conference on Fuzzy Systems. Proceedings
摘要Based on the previous studies, the dynamic balance of an electrical bicycle includes two control inputs: steering and pendulum torques, and three system outputs: steering, lean and pendulum angles. Two novel reference signals are first designed so that the uncontrolled mode is simultaneously included into these two control modes. Two scaling factors for each subsystem are first employed to normalize the sliding surface and its derivative. The so-called fuzzy decentralized sliding-mode under-actuated control (FDSMUC) is first designed. Because the uncertainties of a bicycle system, caused by different ground conditions, gusts of wind, and interactions among subsystems, are often huge, an extra compensation of learning uncertainty is plunged into FDSMUC to enhance system performance. We call it as “fuzzy decentralized sliding-mode adaptive under-actuated control” (FDSMAUC). To avoid the unnecessary transient response and then destroy the balance of the bicycle, the combination of FDSMUC and FDSMAUC with a transition (i.e., fuzzy decentralized sliding-mode robust adaptive under-actuated control, FDSMRAUC) is designed. Finally, the compared simulations for an electrical bicycle among the FDSMUC, FDSMAUC and FDSMRAUC validate the efficiency of the proposed method.
關鍵字Fuzzy control;Robust control;Programmable control;Adaptive control;Sliding mode control;Bicycles;Uncertainty;Torque control;Control systems;Signal design
語言英文(美國)
ISSN1098-7584
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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