Stable switching fuzzy control and its application to a hovercraft type vehicle

Author

Tanaka, Kazuo ; Iwasaki, Masaaki ; Wang, Ilua O.

Author_Institution

Dept. of Mech. Eng. & Intelligent Syst., Univ. of Electro-Commun., Japan

Volume

2

fYear

2000

fDate

2000

Firstpage

804

Abstract

This paper describes stable switching fuzzy control and its application to a hovercraft type vehicle (HTV). A switching fuzzy system is employed to represent the nonlinear dynamics of the HTV that is a typical nonholonomic system. A switching fuzzy controller is constructed by mirroring the structure of the switching fuzzy system. LMI stability conditions to design the switching fuzzy controller are presented. The design technique is applied to trajectory control of the HTV. The simulation results for the trajectory control show the validity of the switching fuzzy model and controller design

Keywords

control system synthesis; fuzzy control; marine systems; matrix algebra; nonlinear dynamical systems; on-off control; position control; robust control; fuzzy control; hovercraft type vehicle; linear matrix inequality; nonholonomic system; nonlinear dynamics; robust control; switching control; trajectory control; Application software; Automotive engineering; Control systems; Fuzzy control; Fuzzy systems; Intelligent systems; Mechanical engineering; Robust stability; Takagi-Sugeno model; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Fuzzy Systems, 2000. FUZZ IEEE 2000. The Ninth IEEE International Conference on

Conference_Location

San Antonio, TX

ISSN

1098-7584

Print_ISBN

0-7803-5877-5

Type

conf

DOI

10.1109/FUZZY.2000.839135

Filename

839135