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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/109615


    Title: Constrained fuzzy control for wheeled mobile robot with visual-inertial sensing
    Authors: Sun, Chung-Hsun;Chen, Hsuan;Huang, Sheng-Kai
    Keywords: Constrained fuzzy control;wheeled mobile robot;visual-inertial sensing
    Date: 2016-09-08
    Issue Date: 2017-02-24 02:13:13 (UTC+8)
    Abstract: 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
    Relation: 2016 4th IIAE International Conference on Intelligent Systems and Image Processing, pp. 347-354
    DOI: 10.12792/icisip2016.062
    Appears in Collections:[機械與機電工程學系暨研究所] 會議論文

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