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    題名: Constrained fuzzy control for wheeled mobile robot with visual-inertial sensing
    作者: Sun, Chung-Hsun;Chen, Hsuan;Huang, Sheng-Kai
    關鍵詞: Constrained fuzzy control;wheeled mobile robot;visual-inertial sensing
    日期: 2016-09-08
    上傳時間: 2017-02-24 02:13:13 (UTC+8)
    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
    關聯: 2016 4th IIAE International Conference on Intelligent Systems and Image Processing, pp. 347-354
    DOI: 10.12792/icisip2016.062
    顯示於類別:[機械與機電工程學系暨研究所] 會議論文

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