Fuzzy gain-scheduling for autonomous mobile robot via LMIs approach

被引：0
|
作者：
Tsourdos, A [1 ]
Economou, JT [1 ]
White, BA [1 ]
Luk, PCK [1 ]
机构：
[1] Cranfield Univ RMCS, Dept Aerosp Power & Sensors, Swindon SN6 8LA, Wilts, England
来源：
PROCEEDINGS OF THE 2003 IEEE INTERNATIONAL SYMPOSIUM ON INTELLIGENT CONTROL | 2003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：
Gain scheduled control is one very useful control technique for linear parameter-varying (LPV) and nonlinear systems. A disadvantage of gain-scheduled control is that it is not easy to design a controller that guarantees the global stability of the closed-loop system over the entire operating range from the theoretical point of view. Another disadvantage is that the interpolation increases in complexity as number of scheduling parameters increases. As an improvement this paper presents a gain-scheduling control technique, in which fuzzy logic is used to construct a model representing an LPV mobile robot and to perform a control law. Linear matrix inequalities are then used to to design a fuzzy gain-scheduling controller that guarantees the global stability of the closed loop system over the entire operating range of the fuzzy model.
引用
收藏
页码：733 / 737
页数：5
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