Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometry

機構典藏 > College of Engineering > Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering > Journal Article > Item 987654321/117001

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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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