کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
390166 661221 2009 17 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Adaptive fuzzy logic control of dynamic balance and motion for wheeled inverted pendulums
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Adaptive fuzzy logic control of dynamic balance and motion for wheeled inverted pendulums
چکیده انگلیسی

In this paper, adaptive fuzzy logic control of dynamic balance and motion is investigated for wheeled inverted pendulums with parametric and functional uncertainties. The proposed adaptive fuzzy logic control based on physical properties of wheeled inverted pendulums makes use of a fuzzy logic engine and a systematic online adaptation mechanism to approximate the unknown dynamics. Based on Lyapunov synthesis, the fuzzy control ensures that the system outputs track the given bounded reference signals to within a small neighborhood of zero, and guarantees semi-global uniform boundedness of all closed-loop signals. The effectiveness of the proposed control is verified through extensive simulations.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Fuzzy Sets and Systems - Volume 160, Issue 12, 16 June 2009, Pages 1787-1803