Paper Info
Title
Switching control of an R/C hovercraft: stabilization and smoothswitching
Abstract
This paper presents stable switching control of an radio-controlled (R/C) hovercraft that is a nonholonomic (nonlinear) 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
DocType
Volume
control input,fuzzy model,fuzzy controller,smooth switching,trajectory control,C hovercraft,stable switching control,smooth switching condition,Switching control,closed-loop system,controller design
Journal
31
Issue
ISSN
Citations 
6
1083-4419
15
PageRank 
References 
Authors
0.92
4
3
Name
Order
Citations
PageRank
K. Tanaka12967377.99
M. Iwasaki2150.92
Hua O Wang32319209.28