Model-based fuzzy control for two trailers problem: Stability analysis and design via linear matrix inequalities

被引：0
|
作者：
Tanaka, K
Taniguchi, T
Wang, HO
机构：
来源：
PROCEEDINGS OF THE SIXTH IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOLS I - III | 1997年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We design a backward movement control system for a vehicle with two trailers via a model-based fuzzy control technique. A Takagi-Sugeno fuzzy model is constructed to describe the nonlinear dynamics of the vehicle. The so-called parallel distributed compensation is employed to determine a control rule structure of a fuzzy controller from the fuzzy model of the vehicle. The parameters of the fuzzy controller are obtained via an LMI (linear matrix inequalities) based design with respect to decay rate, constraint on the control input and constraint on the output. Simulation and experimental results show that the designed fuzzy controller effectively achieves the backward movement control of the articulated vehicle without jack-knife phenomenon.
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收藏
页码：343 / 348
页数：6
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