Title :
Constrained discrete fuzzy control for a perturbed trailer type mobile robot stochastic system
Author :
Chang, Wen-Jer ; Shing, Chong-Cheng ; Chang, Wei
Author_Institution :
Dept. of Marine Eng., Nat. Taiwan Ocean Univ., Keelung, Taiwan
Abstract :
In this paper, we focus on the controller design problem for a trailer type mobile robot (TTMR) system. Besides, we also consider the external disturbance and the perturbation for the practical stochastic systems. At first, we transform the perturbed TTMR stochastic system into Takagi-Sugeno (T-S) fuzzy model. Then, we will develop a method to find the discrete fuzzy controllers for minimizing control input energy with the output variance constraints. Moreover, the present control design problem can be reduced to linear matrix inequality (LMI) problem.
Keywords :
control system synthesis; covariance matrices; feedback; fuzzy control; linear matrix inequalities; mobile robots; nonlinear control systems; stochastic systems; Takagi-Sugeno fuzzy model; constrained discrete fuzzy control; control input energy; controller design problem; covariance control method; fuzzy controller; linear feedback gains; linear matrix inequality; nonlinear stochastic system; output variance constraints; perturbed trailer type mobile robot; stability conditions; Control systems; Design methodology; Discrete transforms; Fuzzy control; Fuzzy systems; Mobile robots; Nonlinear systems; Oceans; Stability; Stochastic systems;
Conference_Titel :
Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on
Print_ISBN :
0-7803-7759-1
DOI :
10.1109/AIM.2003.1225091
