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    題名: Switching T-S Fuzzy Model-Based Guaranteed Cost Control for Two-Wheeled Mobile Robots
    作者: Sun, Chung-Hsun;Wang, Yin-Tien;Chang, Cheng-Chung
    貢獻者: 淡江大學機械與機電工程學系
    關鍵詞: two-wheeled mobile robot;switching T-S fuzzy system;guaranteed cost control
    日期: 2012-05-01
    上傳時間: 2013-05-09 13:35:14 (UTC+8)
    出版者: Kumamoto: I C I C International
    摘要: 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.
    關聯: International Journal of Innovative Computing, Information and Control 8(5)pt.A, pp.3015-3028
    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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