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Browse Journals & Magazines > Systems, Man, and Cybernetics ...> Volume:27 Issue:3 Help

Design of a stable fuzzy controller for an articulated vehicle

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2 Author(s)
Tanaka, K. ; Dept. of Mech. Syst. Eng., Kanazawa Univ., Japan ; Kosaki, T.

This paper presents a backward movement control of an articulated vehicle via a model-based fuzzy control technique. A nonlinear dynamic model of the articulated vehicle is represented by a Takagi-Sugeno fuzzy model. The concept of parallel distributed compensation is employed to design a fuzzy controller from the Takagi-Sugeno fuzzy model of the articulated vehicle. Stability of the designed fuzzy control system is guaranteed via Lyapunov approach. The stability conditions are characterized in terms of linear matrix inequalities since the stability analysis is reduced to a problem of finding a common Lyapunov function for a set of Lyapunov inequalities. Simulation results and experimental results show that the designed fuzzy controller effectively achieves the backward movement control of the articulated vehicle

Published in:
Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:27 ,  Issue: 3 )

Date of Publication: Jun 1997

Page(s):
552 - 558
ISSN :
1083-4419
INSPEC Accession Number:
5593017
Digital Object Identifier :
10.1109/3477.584963
Product Type:
Journals & Magazines
Date of Current Version :
06 August 2002
Issue Date :
Jun 1997
Sponsored by :
IEEE Systems, Man, and Cybernetics Society

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