Hybrid fuzzy model-based control of nonholonomic systems: A unified viewpoint

被引:27
作者
Chiu, Chian-Song [1 ]
Lian, Kuang-Yow [2 ]
机构
[1] Chien Kuo Technol Univ, Dept Elect Engn, Changhua 50050, Taiwan
[2] Chung Yuan Christian Univ, Dept Elect Engn, Chungli 32023, Taiwan
关键词
fuzzy control; hybrid control; linear matrix inequality (LMI); nonholonomic systems; Takagi-Sugeno (T-S) fuzzy model;
D O I
10.1109/TFUZZ.2007.895952
中图分类号
TP18 [人工智能理论];
学科分类号
081104 ; 0812 ; 0835 ; 1405 ;
摘要
This paper proposes a unified hybrid fuzzy model-based control scheme for uncertain nonholonomic systems. Compared with typical hybrid fuzzy control, the stability analysis is performed based on a new concept of constructing a semicommon Lyapunov function and a new definition called as exponential-like model following. This advancement provides a strict stability analysis but results in relaxed gain conditions. In detail, a unified hybrid Takagi-Sugeno fuzzy model is first introduced for representing well-known nonholonomic systems with a momentum conservation constraint or a no-slip constraint. Then, the hybrid fuzzy controller is derived to ensure robust nonlinear model following control, i.e., an asymptotic convergence with adjustable ultimate bound and arbitrary disturbance attenuation in an L-2-gain sense. Furthermore, an iterative linear matrix inequality technique is proposed to guarantee the stability and avoid the need of a common positive-definite matrix. Finally, the applications are carried out on a hopping robot and a car-like mobile robot. Numerical simulations and experiment results show the expected performances.
引用
收藏
页码:85 / 96
页数:12
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