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 language | English |
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Pages (from-to) | 831-844 |
Number of pages | 14 |
Journal | Asian Journal of Control |
Volume | 13 |
Issue number | 6 |
DOIs | |
State | Published - Nov 2011 |
Keywords
- Bicycle
- Fuzzy control
- Guaranteed cost
- Input constraint
- Linear matrix inequality (LMI)
- State constraint
- T-S fuzzy system