Paper Info
Title
Switching Control Of An R/C Hovercraft: Stabilization And Smooth Switching
Abstract
This paper presents stable switching control of an radio-controlled (R/C) hovercraft that is a nonholonomic (non-linear) system. To exactly represent its nonlinear dynamics, more importantly, to maintain controllability of the system, we newly propose a switching fuzzy model that has locally Takagi-Sugeno (T-S) fuzzy models and switches them according to states, external variables, and/or time. A switching fuzzy controller is constructed by mirroring the rule structure of the switching fuzzy model of an R/C hovercraft. We derive linear matrix inequality (LMI) conditions for ensuring the stability of the closed-loop system consisting of a switching fuzzy model and controller. Furthermore; to guarantee smooth switching of control input at switching boundaries, we also derive a smooth switching condition represented in terms of LMIs. A stable switching fuzzy controller satisfying the smooth switching condition is designed by simultaneously solving both of the LMIs. The simulation and experimental results for the trajectory control of an R/C hovercraft show the validity of the switching fuzzy model and controller design, particularly, the smooth switching condition.
Year
DOI
Venue
2001
10.1109/3477.969489
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
Keywords
Field
DocType
fuzzy control, hovercraft, switching systems
Control theory,Mathematical optimization,Nonlinear system,Controllability,Computer science,Control theory,Fuzzy logic,Fuzzy control system,Control system,Nonholonomic system,Linear matrix inequality
Journal
Volume
Issue
ISSN
31
6
1083-4419
Citations 
PageRank 
References 
60
3.15
8
Authors
3
Name
Order
Citations
PageRank
Kazuo Tanaka140840.44
M Iwasaki2603.15
Hua O Wang31139135.28