Fuzzy controller and observer design for backing control of a trailer-truck

被引：17
|
作者：
Tanaka, K
Taniguchi, T
Wang, HO
机构：
[1] Kanazawa Univ, Dept Human & Mech Syst Engn, Kanazawa, Ishikawa 920, Japan
[2] Duke Univ, Durham, NC 27706 USA
来源：
ENGINEERING APPLICATIONS OF ARTIFICIAL INTELLIGENCE | 1997年 / 10卷 / 05期
关键词：
fuzzy control; fuzzy observers; stability analysis; linear matrix inequalities; parallel distributed compensation;
D O I：
10.1016/S0952-1976(97)00025-0
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents a fuzzy controller and observer design for backward movement control of a trailer-truck A nonlinear dynamic model of the trailer-truck is represented by a Takagi-Sugeno fuzzy model. The concept of parallel distributed compensation is employed to design a fuzzy controller and a fuzzy observer from the Takagi-Sugeno fuzzy model of the trailer-truck. Stability conditions of the fuzzy control system are derived, using the Lyapunov approach. It is shown that the stability conditions are characterized in terms of linear matrix inequalities (LMIs). Stability of the overall fuzzy control system, including a fuzzy controller and a fuzzy observer is guaranteed by using a convex optimization technique based on LMIs. Simulation and experimental results show that the fuzzy controller and the fuzzy observer effectively achieve backward movement control of the trailer-truck. (C) 1997 Published by Elsevier Science Ltd. All rights reserved.
引用
收藏
页码：441 / 452
页数：12
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