Trajectory tracking control for wheeled mobile robots based on a piecewise fuzzy Lyapunov function

被引：0
|
作者：
Zhang, Jia-Yuan [1 ]
Li, Hong-Bo [2 ]
Liu, He-Ping [1 ]
机构：
[1] School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing,100083, China
[2] Department of Computer Science & Technology, Tsinghua University, Beijing,100084, China
来源：
Gongcheng Kexue Xuebao/Chinese Journal of Engineering | 2015年 / 37卷 / 07期
关键词：
Fuzzy control - Closed loop systems - Lyapunov functions - Trajectories;
D O I：
10.13374/j.issn2095-9389.2015.07.019
中图分类号：
学科分类号：
摘要：
A trajectory tracking problem is investigated for wheeled mobile robots with control input constraints and external disturbances. Firstly, the trajectory tracking posture error model is transformed into a T-S fuzzy model. Under this framework and parallel distributed compensation, a design method of constrained H∞ controllers is developed via the piecewise fuzzy Lyapunov function approach, and the stability conditions of the closed-loop system are also derived. Finally, simulation results are given to illustrate the effectiveness of the proposed method. ©, 2015, The Editorial Board of CHINESE JOURNAL OF ENGINEERING. All right reserved.
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收藏
页码：955 / 964
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