Paper Info
Title
Control of mobile robots based on T-S fuzzy linearization
Abstract
In this paper, a T-S fuzzy modeling and tracking control method is proposed for wheeled mobile robots by using T-S fuzzy linearization approach. The proposed method has advantages in that the linear control theories can be used for the tracking control of wheeled mobile robots after linearization of them. The local linear models are converted into controllable canonical forms respectively and then fuzzy combination of them gives T-S fuzzy system of controllable canonical form. The canonical form can be linearized using nonlinear feedback input.
Year
DOI
Venue
2010
10.1109/ISDA.2010.5687266
ISDA
Keywords
Field
DocType
nonlinear feedback,tracking control method,t-s fuzzy model,t-s fuzzy linearization,linear control theory,mobile robots,wheeled mobile robot,feedback linearization,feedback,fuzzy control,mobile robot,trajectory,fuzzy system,canonical form,fuzzy systems,mathematical model,control theory,kinematics,linear model
Nonlinear system,Computer science,Control theory,Fuzzy logic,Feedback linearization,Canonical form,Fuzzy control system,Linearization,Trajectory,Mobile robot
Conference
ISBN
Citations 
PageRank 
978-1-4244-8134-7
0
0.34
References 
Authors
4
4
Name
Order
Citations
PageRank
Geunwoo Whang100.34
Fa Guang Wang211.72
Tae Sung Yoon3207.54
Seung Kyu Park4135.06