Trajectory tracking control for wheeled mobile robots based on a piecewise fuzzy Lyapunov function

被引：0

作者：

Zhang, Jia-Yuan ^{[1
]}

Li, Hong-Bo ^{[2
]}

Liu, He-Ping ^{[1
]}

机构：

[1] School of Automation and Electrical Engineering, University of Science and Technology Beijing, Beijing,100083, China

[2] Department of Computer Science & Technology, Tsinghua University, Beijing,100084, China

来源：

Gongcheng Kexue Xuebao/Chinese Journal of Engineering | 2015年 / 37卷 / 07期

关键词：

Fuzzy control - Closed loop systems - Lyapunov functions - Trajectories;

D O I：

10.13374/j.issn2095-9389.2015.07.019

中图分类号：

学科分类号：

摘要：

A trajectory tracking problem is investigated for wheeled mobile robots with control input constraints and external disturbances. Firstly, the trajectory tracking posture error model is transformed into a T-S fuzzy model. Under this framework and parallel distributed compensation, a design method of constrained H∞ controllers is developed via the piecewise fuzzy Lyapunov function approach, and the stability conditions of the closed-loop system are also derived. Finally, simulation results are given to illustrate the effectiveness of the proposed method. ©, 2015, The Editorial Board of CHINESE JOURNAL OF ENGINEERING. All right reserved.

引用

页码：955 / 964

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