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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/100665


    Title: T-S Fuzzy Model-Based Switched Control for Two-Wheeled Mobile Robot
    Authors: Sun, Chung-Hsun
    Contributors: 淡江大學機械與機電工程學系
    Keywords: Two-wheeled mobile robot;Switching T-S fuzzy system;Guaranteed cost control
    Date: 2014-03
    Issue Date: 2015-03-09 14:13:50 (UTC+8)
    Publisher: ICIC International
    Abstract: 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 inequali-ties (LMIs). Finally, the proposed control law is implemented on the developed TWMR, demonstrating the effectiveness of the control design.
    Relation: ICIC Express Letters 8(3), pp.753-758
    Appears in Collections:[機械與機電工程學系暨研究所] 期刊論文

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