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    題名: Sequentially switched fuzzy-model-based control for wheeled mobile robot with visual odometry
    作者: Sun, Chung-Hsun;Chen, Ying-Jen;Wang, Yin-Tien;Huang, Sheng-Kaiac
    關鍵詞: Wheeled mobile robot;Takagi–Sugeno (T–S) fuzzy model;Sequentially switched control;Visual odometry
    日期: 2017-07
    上傳時間: 2019-09-17 12:11:13 (UTC+8)
    出版者: ELSEVIER
    摘要: 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.
    關聯: Applied Mathematical Modelling 47, p.765-776
    DOI: 10.1016/j.apm.2016.11.001
    顯示於類別:[機械與機電工程學系暨研究所] 期刊論文

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