Title :
Wheeled human transportation vehicle implementation using output recurrent fuzzy control strategy
Author :
Chih-Hui Chiu ; Chun-Chieh Chang
Author_Institution :
Dept. of Electr. Eng., Yuan-Ze Univ., Jhongli, Taiwan
Abstract :
Human being assistant transportation systems have received much attention in recent years. This study proposes a wheeled human transportation vehicle (WHTV). Two-wheeled vehicles have been known as powerful transporters for urban areas. Based on a low-level microprocessor, a WHTV is designed and implemented in this study. Moreover, a Mamdani-like output recurrent fuzzy controller (MLORFC) is used to control the WHTV in this study. As the MLORFC obtains system dynamics, it is better than the traditional Mamdani-type fuzzy controllers in terms of dynamic response. A necessary condition based on the Lyapunov stability analysis is established to guarantee the system stability. The recurrent weights are tuned on-line using the dynamic gradient descent method. The learning rates of the recurrent weights are automatically settled based on a Lyapunov analytical method to achieve the system error convergence. The experiment results in Section 4 show that the conveyance platform can stably move under the proposed control strategy.
Keywords :
Lyapunov methods; convergence; dynamic response; fuzzy control; gradient methods; learning systems; road vehicles; stability; Lyapunov analytical method; Lyapunov stability analysis; MLORFC; Mamdani-like output recurrent fuzzy controller; WHTV control; WHTV design; conveyance platform; dynamic gradient descent method; dynamic response; human being assistant transportation system; learning rate; low-level microprocessor; necessary condition; online recurrent weight tuning; output recurrent fuzzy control strategy; system dynamics; system error convergence; system stability guarantee; two-wheeled vehicle; urban area; wheeled human transportation vehicle;
Journal_Title :
Control Theory & Applications, IET
DOI :
10.1049/iet-cta.2014.0243