SOS-based Fuzzy Control of a Wheeled Mobile Robot with Decay Rate

被引：1

作者：

Yu, Gwo-Ruey ^{[1
]}

Wang, Wei-Yi ^{[2
]}

机构：

[1] Natl Chung Cheng Univ, Dept Elect Engn, Chiayi, Taiwan

[2] Natl Chung Cheng Univ, Inst Mfg Hightech Innovat, Grad Inst Opto Mechatron & Adv, Chiayi, Taiwan

来源：

2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013) | 2013年

关键词：

SOS-based fuzzy control; wheeled mobile robot; LMI-based fuzzy control; TRACKING;

D O I：

10.1109/SMC.2013.800

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents the SOS-based fuzzy control of a wheeled mobile robot with decay rate. The polynomial fuzzy model is established for the wheeled mobile robot first. The polynomial Lyapunov function is applied to derive the stability conditions of the wheeled mobile robot with decay rate. The stability conditions with decay rate are represented in terms of sum of squares (SOS) and can be numerically solved via the recent developed SOSTOOLS. Based on the sum of squares approach, the state-feedback gains of the wheeled mobile robot with decay rate are obtained. The simulation results show that the SOS-based fuzzy control is superior to the LMI-based fuzzy control for the path tracking of the wheeled mobile robot with decay rate.

引用

页码：4700 / 4705

页数：6

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