Title :
T-S Singular Fuzzy Control for Mobile Manipulator
Author :
Wenping, Jiang ; Jianwen, Fan
Author_Institution :
Sch. of Electr. & Electron. Eng., Shanghai Inst. of Technol., Shanghai, China
Abstract :
Based on kinetic analyses, a unified method for mobile manipulator to establish an integrated kinetic model is proposed, Aiming at its nonholonomic constraint and nonlinearity, this model is transformed into T-S singular fuzzy model, After that, we design a state feedback controller based on LMI and proved the stability of the system, The efficiency of the method receives supports from the simulation results.
Keywords :
fuzzy control; linear matrix inequalities; manipulators; mobile robots; stability; state feedback; LMI; T-S singular fuzzy control; integrated kinetic model; mobile manipulator; nonholonomic constraint; nonholonomic nonlinearity; stability; state feedback controller design; Analytical models; Joints; Kinetic theory; Manipulator dynamics; Mobile communication; State feedback; LMI; Takagi-sugeno Singular Fuzzy model; integrated kinetic model; mobile manipulator; state feedback control;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2011 Third International Conference on
Conference_Location :
Shangshai
Print_ISBN :
978-1-4244-9010-3
DOI :
10.1109/ICMTMA.2011.835
