Paper Info
Title
Guaranteed Cost Tracking Scheme for Wheeled Mobile Robot with Actuator Saturations via T-S Fuzzy Model
Abstract
This paper discusses the tracking problem of dynamic wheeled moving robot (WMR) subject to nonholonomic constraints and actuator saturations. A constrained guaranteed cost tracking scheme for this problem via Tagaki-Sugeno (T-S) fuzzy model is proposed, where tracking error dynamics of WMR is represented by T-S fuzzy model which are dynamic combination of several linear sub-systems, and then constrained guaranteed controller in the form of state feedback is derived for each subsystem by solving LMI based semi-definite programming problems. The overall controller then is constructed in the framework of PDC and the Lyapunov stability of the closed-loop system is tested finally. Simulation results are given and discussed to validate the proposed scheme.
Year
DOI
Venue
2008
10.1109/FSKD.2008.455
FSKD (5)
Keywords
Field
DocType
guaranteed cost,actuator saturations,lmi,semidefinite programming problems,tracking problem,t-s fuzzy model,tagaki-sugeno fuzzy model,mobile robots,state feedback,closed-loop system,wheeled mobile robot,error dynamic,cost tracking scheme,proposed scheme,nonholonomic constraints,dynamic combination,semi-definite programming problem,tracking scheme,linear matrix inequalities,fuzzy control,linear systems,guaranteed cost tracking scheme,stability,lyapunov stability,closed loop systems,fuzzy model,lyapunov methods,overall controller,actuators,nonlinear systems,trajectory
Control theory,Linear system,Computer science,Control theory,Lyapunov stability,Fuzzy control system,Nonholonomic system,Mobile robot,Tracking error,Actuator
Conference
Volume
ISBN
Citations 
5
978-0-7695-3305-6
2
PageRank 
References 
Authors
0.43
8
3
Name
Order
Citations
PageRank
Xingquan Gao121.11
Miaomiao Ma2122.07
Hong Chen328056.04