Fuzzy control based on LMI approach and fuzzy interpretation of the rider input for two wheeled balancing human transporter
Azizan, H. Jafarinasab, M. Behbahani, S. Danesh, M.
Dept. of Mech. Eng., Isfahan Univ. of Technol., Isfahan, Iran
This paper appears in: Control and Automation (ICCA), 2010 8th IEEE International Conference on
Issue Date: 9-11 June 2010
On page(s): 192 - 197
Location: Xiamen
ISSN: 1948-3449
Print ISBN: 978-1-4244-5195-1
INSPEC Accession Number: 11446434
Digital Object Identifier: 10.1109/ICCA.2010.5524327
Date of Current Version: 26 July 2010
Abstract
This paper presents a novel hierarchy intelligent control scheme for a two-wheeled human transportation vehicle which is similar to an inverted pendulum. As a high-level supervisory piloting scheme, the paper presents a fuzzy intelligent interpretation of the rider's body inclination. It provides an interface between human user and the vehicle with the aim to enhance the piloting capabilities and convenience from human user viewpoint. As a direct controller, considering the nonlinearities of the system, Takagi-Sugeno fuzzy model is proposed to combine linearized systems and their controllers, where the controller gains of each linear system are optimally obtained by LMI method. The effectiveness of the proposed approaches is verified by applying them on the nonlinear model of the system.
You can read this paper here
If you are interested in it,I can also email it. So, please email me and send your request
هیچ نظری موجود نیست:
ارسال یک نظر