淡江大學機構典藏:Item 987654321/60947
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    題名: Fuzzy decentralized sliding-mode robust adaptive underactuatedcontrol for autonomous dynamic balance of a running electrical bicycle
    作者: 黃志良
    貢獻者: 淡江大學電機工程學系
    關鍵詞: Fuzzy control;Robust control;Programmable control;Adaptive control;Sliding mode control;Bicycles;Uncertainty;Torque control;Control systems;Signal design
    日期: 2008-08
    上傳時間: 2011-10-15 01:08:15 (UTC+8)
    摘要: Based on the previous studies, the dynamic balance of an electrical bicycle includes two control inputs: steering and pendulum torques, and three system outputs: steering, lean and pendulum angles. Two novel reference signals are first designed so that the uncontrolled mode is simultaneously included into these two control modes. Two scaling factors for each subsystem are first employed to normalize the sliding surface and its derivative. The so-called fuzzy decentralized sliding-mode under-actuated control (FDSMUC) is first designed. Because the uncertainties of a bicycle system, caused by different ground conditions, gusts of wind, and interactions among subsystems, are often huge, an extra compensation of learning uncertainty is plunged into FDSMUC to enhance system performance. We call it as “fuzzy decentralized sliding-mode adaptive under-actuated control” (FDSMAUC). To avoid the unnecessary transient response and then destroy the balance of the bicycle, the combination of FDSMUC and FDSMAUC with a transition (i.e., fuzzy decentralized sliding-mode robust adaptive under-actuated control, FDSMRAUC) is designed. Finally, the compared simulations for an electrical bicycle among the FDSMUC, FDSMAUC and FDSMRAUC validate the efficiency of the proposed method.
    關聯: IEEE International Conference on Fuzzy Systems. Proceedings
    DOI: 10.1109/FUZZY.2009.5277246
    顯示於類別:[電機工程學系暨研究所] 期刊論文

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