教師資料查詢 | 類別: 會議論文 | 教師: 孫崇訓 Chung-hsun Sun (瀏覽個人網頁)

標題:Constrained fuzzy control for wheeled mobile robot with visual-inertial sensing
學年105
學期1
發表日期2016/09/08
作品名稱Constrained fuzzy control for wheeled mobile robot with visual-inertial sensing
作品名稱(其他語言)
著者Chung-Hsun Sun; Hsuan Chen; Sheng-Kai Huang
作品所屬單位
出版者
會議名稱2016 4th IIAE International Conference on Intelligent Systems and Image Processing
會議地點Kyoto, Japan
摘要This study investigates the constrained fuzzy control design for the wheeled mobile robot through visual-inertial sensing. The visual-inertial-based localization system which is constructed from a binocular vision system and an inertial measurement unit (IMU) is used to measure the motion of the robot. The constrained fuzzy control law is designed for the Takagi-Sugeno (T-S) fuzzy model of the mobile robot. The constraint induced by the visual localization system is also considered in the control design. The designed fuzzy control law derived from the Lyapunov stability criterion. The experimental results demonstrate the effectiveness of the proposed constrained fuzzy control design for the wheeled mobile robot through visual-inertial sensing
關鍵字Constrained fuzzy control;wheeled mobile robot;visual-inertial sensing
語言中文
收錄於
會議性質國際
校內研討會地點
研討會時間20160908~20160912
通訊作者
國別中華民國
公開徵稿
出版型式
出處2016 4th IIAE International Conference on Intelligent Systems and Image Processing, pp. 347-354
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