English  |  正體中文  |  简体中文  |  Items with full text/Total items : 49287/83828 (59%)
Visitors : 7154521      Online Users : 49
RC Version 7.0 © Powered By DSPACE, MIT. Enhanced by NTU Library & TKU Library IR team.
Scope Tips:
  • please add "double quotation mark" for query phrases to get precise results
  • please goto advance search for comprehansive author search
  • Adv. Search
    HomeLoginUploadHelpAboutAdminister Goto mobile version
    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/89075


    Title: Switching T-S Fuzzy Model-Based Guaranteed Cost Control for Two-Wheeled Mobile Robots
    Authors: Sun, Chung-Hsun;Wang, Yin-Tien;Chang, Cheng-Chung
    Contributors: 淡江大學機械與機電工程學系
    Keywords: two-wheeled mobile robot;switching T-S fuzzy system;guaranteed cost control
    Date: 2012-05
    Issue Date: 2013-05-09 13:35:14 (UTC+8)
    Publisher: Kumamoto: I C I C International
    Abstract: Based on the switching Takagi-Sugeno (T-S) fuzzy control theorem, this study investigates the position control for a developed differential-drive two-wheeled mobile robot (TWMR). The developed TWMR is introduced, followed by a description of the kinematic equations of the TWMR, which are represented by exact T-S fuzzy systems. The uncontrollable problem of the derived T-S fuzzy model is avoided by considering the switching section mechanism. The switching T-S fuzzy model is synthesized by a switching parallel distributed compensation. Moreover, a guaranteed cost control issue is considered to obtain proper control signals and improve state responses for the developed TWMR. A feasible controller is obtained by solving the derived linear matrix inequalities (LMIs). Finally, the proposed control law is implemented on the developed TWMR, demonstrating the effectiveness of the control design.
    Relation: International Journal of Innovative Computing, Information and Control 8(5)pt.A, pp.3015-3028
    Appears in Collections:[機械與機電工程學系暨研究所] 期刊論文

    Files in This Item:

    File Description SizeFormat
    index.html0KbHTML117View/Open
    index.html0KbHTML108View/Open

    All items in 機構典藏 are protected by copyright, with all rights reserved.


    DSpace Software Copyright © 2002-2004  MIT &  Hewlett-Packard  /   Enhanced by   NTU Library & TKU Library IR teams. Copyright ©   - Feedback