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Title: Wheeled human transportation vehicle implementation using output recurrent fuzzy control strategy
Authors: Chih-Hui Chiu;Chun-Chieh Chang
Contributors: 國立臺灣海洋大學:通訊科學系
Date: 2014
Issue Date: 2018-06-25T07:31:25Z
Publisher: IET Control Theory & Applications
Abstract: Abstract:
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:[Department of Communications Navigation and Control Engineering] Periodical Articles

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