Title :
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
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;
Conference_Titel :
Fuzzy Systems, 2000. FUZZ IEEE 2000. The Ninth IEEE International Conference on
Conference_Location :
San Antonio, TX
Print_ISBN :
0-7803-5877-5
DOI :
10.1109/FUZZY.2000.839135
