T-S Fuzzy Model-Based Switched Control for Two-Wheeled Mobile Robot

機構典藏 > College of Engineering > Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering > Journal Article > Item 987654321/100665

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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:	[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Journal Article

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