Guaranteed-cost fuzzy controller design for a self-sustaining bicycle with practical constraints

Ying Jen Chen, Wen June Wang, Chung Lung Chang

Research output: Contribution to journalArticlepeer-review

8 Scopus citations

Abstract

This study presents a guaranteed-cost fuzzy controller for a selfsustaining bicycle. First, the nonlinear dynamics of the bicycle are exactly transformed into a T-S fuzzy system with model uncertainty. The guaranteedcost fuzzy controller is then designed for the transformed T-S fuzzy system. For practical considerations, the input/state constraints are also satisfied in the design. The main contribution of this study is the guaranteed-cost control design for a T-S fuzzy system with model uncertainty and input/state constraints. Finally, simulation results show the validity of the proposed controller design method.

Original languageEnglish
Pages (from-to)831-844
Number of pages14
JournalAsian Journal of Control
Volume13
Issue number6
DOIs
StatePublished - Nov 2011

Keywords

  • Bicycle
  • Fuzzy control
  • Guaranteed cost
  • Input constraint
  • Linear matrix inequality (LMI)
  • State constraint
  • T-S fuzzy system

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