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

Volume

1

fYear

2003

fDate

20-24 July 2003

Firstpage

175

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;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced Intelligent Mechatronics, 2003. AIM 2003. Proceedings. 2003 IEEE/ASME International Conference on

Print_ISBN

0-7803-7759-1

Type

conf

DOI

10.1109/AIM.2003.1225091

Filename

1225091