Constrained fuzzy stabilization for mobile robots with laser-range-finder localization

Chung Hsun Sun, Hsuan Chen, Hsiang Chieh Chen

研究成果: 書貢獻/報告類型會議論文篇章同行評審

摘要

In this paper, the fuzzy position and posture stabilization for the differentially-driven wheeled mobile robot (WMR) with laser range finder (LRF) localization is investigated. The position and posture of the WMR are sensing by the LRF with inertial measurement unit (IMU). The position and posture stabilization is based on the Takagi-Sugeno (T-S) fuzzy model of the mobile robot represented in polar kinematics. The position and posture stabilization of the T-S fuzzy model based control design follows the Lyapunov stabilization method. Moreover, the constraint on the LRF-based localization is considered in the control design. Finally, the position and posture stabilization experiments are carried out on a mobile robot with LRF-based localization to prove the effectiveness of proposed T-S fuzzy model based control strategy.

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主出版物標題IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems
發行者Institute of Electrical and Electronics Engineers Inc.
ISBN(電子)9781509049172
DOIs
出版狀態已出版 - 30 8月 2017
事件17th Joint World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, IFSA-SCIS 2017 - Otsu, Japan
持續時間: 27 6月 201730 6月 2017

出版系列

名字IFSA-SCIS 2017 - Joint 17th World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems

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???event.eventtypes.event.conference???17th Joint World Congress of International Fuzzy Systems Association and 9th International Conference on Soft Computing and Intelligent Systems, IFSA-SCIS 2017
國家/地區Japan
城市Otsu
期間27/06/1730/06/17

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