کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
9654538 | 679751 | 2005 | 17 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
A new fuzzy robust dynamic controller for autonomous vehicles with nonholonomic constraints
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
مهندسی کامپیوتر
هوش مصنوعی
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: A new fuzzy robust dynamic controller for autonomous vehicles with nonholonomic constraints A new fuzzy robust dynamic controller for autonomous vehicles with nonholonomic constraints](/preview/png/9654538.png)
چکیده انگلیسی
In this paper a novel algorithm with a dynamic fuzzy controller applied to the control of trajectory of vehicles with two independent wheels is proposed. An automatic control of trajectory of a vehicle can behave in a not efficient way. It is necessary to consider the friction of the actuators and possible perturbations coming from the outside environment, as for instance the variable characteristics of the ground where the vehicle moves. These perturbations, which depend also on the contact between the wheel and the ground, involve violations of nonholonomic constraints. Thus it is necessary to compensate for these perturbations to obtain a robust control system. The controller synthetized in this work is able to obtain a term of additive adaptation to the dynamic control law by means of a fuzzy inference mechanism. Asymptotic stability of equilibrium state of fuzzy control system is developed by the Direct Lyapunov method and Barbalat's lemma. A series of simulations in Matlab 6.5 confirms the validity of the algorithm.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 52, Issues 2â3, 31 August 2005, Pages 115-131
Journal: Robotics and Autonomous Systems - Volume 52, Issues 2â3, 31 August 2005, Pages 115-131
نویسندگان
Francesco M. Raimondi, Maurizio Melluso,