| 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: | 2012-05-01 |
| 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: | [Graduate Institute & Department of Mechanical and Electro-Mechanical Engineering] Journal Article
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