CONTROLLER DESIGN FOR UNMANNED BICYCLES BASED ON TENSOR PRODUCT MODEL TRANSFORMATION AND VARIABLE UNIVERSE FUZZY CONTROL

被引：0
作者：
Wang, Degang [1 ]
Xie, Depeng [1 ]
Zhao, Guoliang [2 ]
Li, Hongxing [1 ]
机构：
[1] School of Control Science and Engineering, Dalian University of Technology, No. 2, Linggong Road, Ganjingzi District, Dalian
[2] College of Electronic Information Engineering, Inner Mongolia University, No. 235, East Second Ring West Road, Xincheng District, Hohhot
来源：
International Journal of Innovative Computing, Information and Control | 2025年 / 21卷 / 02期
基金：
中国国家自然科学基金;
关键词：
Parallel distributed compensation; Quasi-linear parametric model; Tensor product model transformation; Unmanned bicycles; Variable universe fuzzy control;
D O I：
10.24507/ijicic.21.02.447
中图分类号：
学科分类号：
摘要：
In this paper, a tensor product variable universe fuzzy (TPVUF) controller is designed for stabilizing the balance of unmanned bicycles. Firstly, the nonlinear exact model of the unmanned bicycles is obtained using Kane’s method, and then the tensor product (TP) model transformation technique is used to derive the tensor product model of the unmanned bicycles. Subsequently, the TPVUF controller utilizes the gain calculated by the parallel distributed compensation (PDC) method as fusion coefficients of the error and its rate of change in the variable universe fuzzy (VUF) method. The VUF control method has the ability to quickly converge the error and its rate of change, which improves the response speed of the TPVUF controller. Finally, simulation experiments validate the effectiveness of the designed controller. © 2025, ICIC International.
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页码：447 / 455
页数：8
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