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.
引用
收藏
页码：955 / 964
相关论文
共 50 条
  • [21] Trajectory Tracking Control of Nonholonomic Wheeled Mobile Robots Using Model Predictive Control Subjected to Lyapunov-based Input Constraints
    Zhang, Jing-Jun
    Fang, Zhi-Li
    Zhang, Zhong-Qi
    Gao, Rui-Zhen
    Zhang, Shao-Bo
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2022, 20 (05) : 1640 - 1651
  • [22] Trajectory Tracking of Wheeled Mobile Robots Using Z-Number Based Fuzzy Logic
    Abdelwahab, Mohamed
    Parque, Victor
    Elbab, Ahmed M. R. Fath
    Abouelsoud, A. A.
    Sugano, Shigeki
    IEEE ACCESS, 2020, 8 (08): : 18426 - 18441
  • [23] Trajectory Tracking Control of Differential Wheeled Mobile Robots Based on Rhombic Input Constraints
    Gong, Kai
    Jia, Yingmin
    Jia, Yuxin
    PROCEEDINGS OF THE 2021 INTERNATIONAL CONFERENCE ON ARTIFICIAL LIFE AND ROBOTICS (ICAROB 2021), 2021, : 368 - 372
  • [24] A novel trajectory-tracking control law for wheeled mobile robots
    Blazic, Saso
    ROBOTICS AND AUTONOMOUS SYSTEMS, 2011, 59 (11) : 1001 - 1007
  • [25] Disturbance observer-based robust control for trajectory tracking of wheeled mobile robots
    Huang, Dawei
    Zhai, Junyong
    Ai, Weiqing
    Fei, Shumin
    NEUROCOMPUTING, 2016, 198 : 74 - 79
  • [26] Feedback-linearization and fuzzy controllers for trajectory tracking of wheeled mobile robots
    Keighobadi, Jafar
    Menhaj, Mohammad B.
    Kabganian, Mansour
    KYBERNETES, 2010, 39 (01) : 83 - 106
  • [27] Adaptive trajectory tracking control of wheeled mobile robots with disturbance observer
    Taheri-Kalani, J.
    Khosrowjerdi, M. J.
    INTERNATIONAL JOURNAL OF ADAPTIVE CONTROL AND SIGNAL PROCESSING, 2014, 28 (01) : 14 - 27
  • [28] Trajectory Tracking Control for Wheeled Mobile Robots with Kinematic Parameter Uncertainty
    Jianjun Bai
    Jian Du
    Tianlong Li
    Yun Chen
    International Journal of Control, Automation and Systems, 2022, 20 : 1632 - 1639
  • [29] Trajectory Tracking Control for Wheeled Mobile Robots with Kinematic Parameter Uncertainty
    Bai, Jianjun
    Du, Jian
    Li, Tianlong
    Chen, Yun
    INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS, 2022, 20 (05) : 1632 - 1639
  • [30] Adaptive sliding mode trajectory tracking control for wheeled mobile robots
    Zhai, Jun-yong
    Song, Zhi-bao
    INTERNATIONAL JOURNAL OF CONTROL, 2019, 92 (10) : 2255 - 2262
12345