關鍵字查詢 | 類別:期刊論文 | | 關鍵字:Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometry

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1 105/2 機械系 王銀添 教授 期刊論文 發佈 Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometry , [105-2] :Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometry期刊論文Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometrySun Chung-Hsun; Chen Ying-Jen; Wang Yin-Tien; Huang Sheng-KaiacWheeled mobile robot;Takagi–Sugeno (T–S) fuzzy model;Sequentially switched control;Visual odometryApplied Mathematical Modelling 47, p.765-776This study focused on the Takagi–Sugeno (T–S) fuzzy-model-based control design for the differentially-driven wheeled mobile robot with visual odometry. The position and posture of the mobile robot are estimated by visual odometry. The polar kinematic model of the mobile robot is exactly converted to the T–S fuzzy model and then the fuzzy control design is synthesized to the fuzzy model. The sequentially switched fuzzy control design includes turning, forward motion as well as position and posture control modes. The stabilization is guaranteed based on the Lyapunov stability criterion. The practical
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