Please use this identifier to cite or link to this item:
|Title: ||Wheeled human transportation vehicle implementation using output recurrent fuzzy control strategy|
|Authors: ||Chih-Hui Chiu;Chun-Chieh Chang|
|Issue Date: ||2018-06-25T07:31:25Z
|Publisher: ||IET Control Theory & Applications|
Human being assistant transportation systems have received much attention in recent years. This study proposes a wheeled human transportation vehicle (WHTV). Two-wheeled vehicles have been known as powerful transporters for urban areas. Based on a low-level microprocessor, a WHTV is designed and implemented in this study. Moreover, a Mamdani-like output recurrent fuzzy controller (MLORFC) is used to control the WHTV in this study. As the MLORFC obtains system dynamics, it is better than the traditional Mamdani-type fuzzy controllers in terms of dynamic response. A necessary condition based on the Lyapunov stability analysis is established to guarantee the system stability. The recurrent weights are tuned on-line using the dynamic gradient descent method. The learning rates of the recurrent weights are automatically settled based on a Lyapunov analytical method to achieve the system error convergence. The experiment results in Section 4 show that the conveyance platform can stably move under the proposed control strategy.
|Relation: ||8(17) pp.1886-1895|
|Appears in Collections:||[通訊與導航工程學系] 期刊論文|
Files in This Item:
All items in NTOUR are protected by copyright, with all rights reserved.