ROBUST PASSIVITY-BASED ADAPTIVE CONTROL OF A NONHOLONOMIC MOBILE ROBOT USING FUZZY LOGIC

	ROBUST PASSIVITY-BASED ADAPTIVE CONTROL OF A NONHOLONOMIC MOBILE ROBOT USING FUZZY LOGIC
	Zou, An-Min; Hou, Zeng-Guang; Cao, Zhi-Qiang; Tan, Min
发表期刊	INTELLIGENT AUTOMATION AND SOFT COMPUTING
	2009
卷号	15 期号:2 页码:187-200
文章类型	Article
摘要	This paper considers the position control problem of nonholonomic mobile robots with plant uncertainties and external disturbances. A robust passivity-based controller using fuzzy logic is proposed based on the reduced-form dynamic model of nonholonomic systems. The fuzzy logic system, whose parameters are tuned on-line, is introduced to learn the unknown (uncertain) plant dynamics due to the universal approximation property of fuzzy logic systems, and the adaptive compensator is employed to suppress external disturbances and approximation errors. The proposed control scheme can guarantee that all signals in the closed-loop system are uniformly ultimately bounded. Simulation results show the efficiency of the proposed approach.
关键词	Nonholonomic Mobile Robot Fuzzy Logic Adaptive Uniformly Ultimately Bounded
WOS标题词	Science & Technology ; Technology
关键词[WOS]	TRACKING CONTROL ; MECHANICAL SYSTEMS ; NETWORKS
收录类别	SCI
语种	英语
WOS研究方向	Automation & Control Systems ; Computer Science
WOS类目	Automation & Control Systems ; Computer Science, Artificial Intelligence
WOS记录号	WOS:000264661000005
引用统计	被引频次：1[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/3457
专题	复杂系统认知与决策实验室_先进机器人
作者单位	Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China
第一作者单位	中国科学院自动化研究所
推荐引用方式 GB/T 7714	Zou, An-Min,Hou, Zeng-Guang,Cao, Zhi-Qiang,et al. ROBUST PASSIVITY-BASED ADAPTIVE CONTROL OF A NONHOLONOMIC MOBILE ROBOT USING FUZZY LOGIC[J]. INTELLIGENT AUTOMATION AND SOFT COMPUTING,2009,15(2):187-200.
APA	Zou, An-Min,Hou, Zeng-Guang,Cao, Zhi-Qiang,&Tan, Min.(2009).ROBUST PASSIVITY-BASED ADAPTIVE CONTROL OF A NONHOLONOMIC MOBILE ROBOT USING FUZZY LOGIC.INTELLIGENT AUTOMATION AND SOFT COMPUTING,15(2),187-200.
MLA	Zou, An-Min,et al."ROBUST PASSIVITY-BASED ADAPTIVE CONTROL OF A NONHOLONOMIC MOBILE ROBOT USING FUZZY LOGIC".INTELLIGENT AUTOMATION AND SOFT COMPUTING 15.2(2009):187-200.