Title :
Fuzzy control of a mobile robot with multiple trailers-stability analysis and parallel distributed compensation
Author :
Tanaka, Kazuo ; Kosaki, Takahiro ; Wang, Hua O.
Author_Institution :
Dept. of Human & Mech. Syst. Eng., Kanazawa Univ., Japan
Abstract :
Control systems for backing mobile robots with multiple trailers are designed by applying a design technique of model-based fuzzy control and stability analysis. The simulation results show that the designed fuzzy controllers effectively realize backing control of the mobile robots with multiple trailers
Keywords :
mobile robots; Lyapunov method; backing control; fuzzy control; mobile robot; model-based control; multiple trailers; nonlinear system; parallel distributed compensation; stability; Argon; Computational modeling; Control system synthesis; Design engineering; Fuzzy control; Humans; Mechanical systems; Mobile robots; Stability analysis; Systems engineering and theory;
Conference_Titel :
Intelligent Control, 1996., Proceedings of the 1996 IEEE International Symposium on
Conference_Location :
Dearborn, MI
Print_ISBN :
0-7803-2978-3
DOI :
10.1109/ISIC.1996.556211
