Decay Rate Fuzzy Controller: Satisfying Constraint on Control Input and Output of Backing-up Control of a Vehicle with Triple Trailer
This paper presents decay rate fuzzy controller satisfying constraint on control input and output of backing-up control of a vehicle with triple trailers. We consider the backing-up control of a vehicle with Triple trailers using a model based fuzzy control methodology. To Begin with, the vehicle model is represented by a Takagi-Sugeno Fuzzy model. Then, we employ the so called parallel distributed Compensation design to arrive at a controller that guarantees the Stability of the closed-loop system consisted of the fuzzy model and Controller. The control design problem is cast in terms of linear Matrix inequalities (LMI s) we Utilize these LMI conditions to explicitly avoid the saturation of the Steering angle and the jackknife phenomenon. Both simulation and experimental results a represented. Our results demonstrate that the fuzzy controller effectively achieves the backing-up control of the vehicle with triple trailers while avoiding the saturation of the actuator and jackknife phenomenon.
Constraints on control input and output decay rate fuzzy modeling T-S fuzzy systems linear matrix inequalities nonlinear systems Multi-objective control
Hamed Akhtari Shishavan Mohammad Ali Mohtadi Bonab Rahim Karimdadashi
Islamic Azad university Ajabshir Branch Ajabshir, Iran Bonab Higher Education Complex Bonabjran Bonab Higher Education Complex Bonab,Iran
国际会议
重庆
英文
331-336
2011-01-21（万方平台首次上网日期，不代表论文的发表时间）