ROBUST PASSIVITY-BASED ADAPTIVE CONTROL OF A NONHOLONOMIC MOBILE ROBOT USING FUZZY LOGIC
文献类型：期刊论文
| 作者 | Zou, An-Min; Hou, Zeng-Guang ; Cao, Zhi-Qiang; Tan, Min
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| 刊名 | INTELLIGENT AUTOMATION AND SOFT COMPUTING
 |
| 出版日期 | 2009 |
| 卷号 | 15期号:2页码:187-200 |
| 关键词 | Nonholonomic mobile robot fuzzy logic adaptive uniformly ultimately bounded |
| 英文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Computer Science, Artificial Intelligence |
| 研究领域[WOS] | Automation & Control Systems ; Computer Science |
| 关键词[WOS] | TRACKING CONTROL ; MECHANICAL SYSTEMS ; NETWORKS |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000264661000005 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/3457]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100190, Peoples R China |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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