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Please use this identifier to cite or link to this item: http://ntour.ntou.edu.tw:8080/ir/handle/987654321/26268

Title: Fuzzy Control for Nonlinear Truck–Trailer Mobile Robot via Affine Takagi-Sugeno Fuzzy Models
Authors: W. J. Chang;P. H. Lin;W. Chang
Contributors: 國立臺灣海洋大學:輪機工程學系
Keywords: affine T-S fuzzy models;time-delay;robust control
Date: 2005
Issue Date: 2011-10-20T08:34:37Z
Publisher: 2005 CACS Automatic Control Conference
Abstract: Abstract:The affine Takagi-Sugeno (T-S) fuzzy model played a more important role in nonlinear control because it can be used to approximate the nonlinear systems more than the homogeneous T-S fuzzy models. Besides, it is known that the time delays exist in physical systems and the previous works didn't consider the time delay effects in the stability analysis of affine T-S fuzzy models. Hence, this paper provides the fuzzy controller design and numerical simulation for the time-delay nonlinear Truck-Trailer Mobile Robot (TTMR) systems. The Parallel Distributed Compensation (PDC) based fuzzy control problem for the discrete time-delay affine T-S fuzzy models are considered. Besides, an Iterative Linear Matrix Inequality (ILMI) algorithm is used to solve the stability condition in this paper.
Relation: pp.E00008d
URI: http://ntour.ntou.edu.tw/handle/987654321/26268
Appears in Collections:[輪機工程學系] 演講及研討會

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