Title :
SOS-Based Fuzzy Control of a Wheeled Mobile Robot with Decay Rate
Author :
Gwo-Ruey Yum ; Wei-Yi Wang
Author_Institution :
Dept. of Electr. Eng. & Adv., Nat. Chung Cheng Univ., Chiayi, Taiwan
Abstract :
This paper presents the SOS-based fuzzy control of a wheeled mobile robot with decay rate. The polynomial fuzzy model is established for the wheeled mobile robot first. The polynomial Lyapunov function is applied to derive the stability conditions of the wheeled mobile robot with decay rate. The stability conditions with decay rate are represented in terms of sum of squares (SOS) and can be numerically solved via the recent developed SOSTOOLS. Based on the sum of squares approach, the state-feedback gains of the wheeled mobile robot with decay rate are obtained. The simulation results show that the SOS-based fuzzy control is superior to the LMI-based fuzzy control for the path tracking of the wheeled mobile robot with decay rate.
Keywords :
Lyapunov methods; fuzzy control; mobile robots; path planning; polynomials; stability; state feedback; LMI-based fuzzy control; SOS-based fuzzy control; SOSTOOLS; decay rate; path tracking; polynomial Lyapunov function; polynomial fuzzy model; stability conditions; state-feedback gain; sum of squares approach; wheeled mobile robot; Eigenvalues and eigenfunctions; Fuzzy control; Mobile robots; Nonlinear systems; Polynomials; Stability analysis; LMI-based fuzzy control; SOS-based fuzzy control; wheeled mobile robot;
Conference_Titel :
Systems, Man, and Cybernetics (SMC), 2013 IEEE International Conference on
Conference_Location :
Manchester
DOI :
10.1109/SMC.2013.800
