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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/117001


    Title: Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometry
    Authors: Sun, Chung-Hsun;Chen, Ying-Jen;Wang, Yin-Tien;Huang, Sheng-Kaiac
    Keywords: Wheeled mobile robot;Takagi–Sugeno (T–S) fuzzy model;Sequentially switched control;Visual odometry
    Date: 2017-07
    Issue Date: 2019-09-17 12:11:13 (UTC+8)
    Publisher: ELSEVIER
    Abstract: This 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 constraints on the visual odometry are also satisfied in the control design. Finally, the experiment results demonstrate the effectiveness of the fuzzy-model-based control design for the mobile robot with visual odometry.
    Relation: Applied Mathematical Modelling 47, p.765-776
    DOI: 10.1016/j.apm.2016.11.001
    Appears in Collections:[Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Journal Article

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