Switching T-s Fuzzy Model-based Guaranteed Cost Control for Two-wheeled Mobile Robots
نویسندگان
چکیده
Based on the switching Takagi-Sugeno (T-S) fuzzy control theorem, this study investigates the position control for a developed differential-drive two-wheeled mobile robot (TWMR). The developed TWMR is introduced, followed by a description of the kinematic equations of the TWMR, which are represented by exact T-S fuzzy systems. The uncontrollable problem of the derived T-S fuzzy model is avoided by considering the switching section mechanism. The switching T-S fuzzy model is synthesized by a switching parallel distributed compensation. Moreover, a guaranteed cost control issue is considered to obtain proper control signals and improve state responses for the developed TWMR. A feasible controller is obtained by solving the derived linear matrix inequalities (LMIs). Finally, the proposed control law is implemented on the developed TWMR, demonstrating the effectiveness of the control design.
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