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Trajectory tracking control for wheeled mobile robots based on a piecewise fuzzy Lyapunov function. (Chinese. English summary) Zbl 1340.68195

Summary: A trajectory tracking problem is investigated for wheeled mobile robots with control input constraints and external disturbances. Firstly, the trajectory tracking posture error model is transformed into a T-S fuzzy model. Under this framework and parallel distributed compensation, a design method of constrained \(H_\infty\) controllers is developed via the piecewise fuzzy Lyapunov function approach, and the stability conditions of the closed-loop system are also derived. Finally, simulation results are given to illustrate the effectiveness of the proposed method.

MSC:

68T40 Artificial intelligence for robotics
93C42 Fuzzy control/observation systems
93C85 Automated systems (robots, etc.) in control theory
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