教師資料查詢 | 類別: 期刊論文 | 教師: 王銀添 Wang Yin-tien (瀏覽個人網頁)

標題: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
語言英文
ISSN1349-4198
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
國別日本
公開徵稿
出版型式,紙本
相關連結
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