{"title":"拖挂式移动机器人基于模型的模糊控制","authors":"K. Tanaka","doi":"10.1109/FUZZY.1995.409661","DOIUrl":null,"url":null,"abstract":"Tanaka and Sano (1993,1994) designed a control system for backing up a computer simulated trailer type mobile robot, which is non-linear and unstable, by applying a robust stabilization technique for fuzzy systems. Furthermore, it was shown that the designed fuzzy controller smoothly achieves backing up control of the computer simulated trailer type mobile robot from all initial positions. In this paper, the author controls a real trailer type mobile robot by applying the design method proposed in the above papers. The experimental results show that the designed fuzzy controller effectively realizes backing up control of the real trailer type mobile robot.<<ETX>>","PeriodicalId":150477,"journal":{"name":"Proceedings of 1995 IEEE International Conference on Fuzzy Systems.","volume":"30 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1995-03-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":"{\"title\":\"Model-based fuzzy control of a trailer type mobile robot\",\"authors\":\"K. Tanaka\",\"doi\":\"10.1109/FUZZY.1995.409661\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Tanaka and Sano (1993,1994) designed a control system for backing up a computer simulated trailer type mobile robot, which is non-linear and unstable, by applying a robust stabilization technique for fuzzy systems. Furthermore, it was shown that the designed fuzzy controller smoothly achieves backing up control of the computer simulated trailer type mobile robot from all initial positions. In this paper, the author controls a real trailer type mobile robot by applying the design method proposed in the above papers. The experimental results show that the designed fuzzy controller effectively realizes backing up control of the real trailer type mobile robot.<<ETX>>\",\"PeriodicalId\":150477,\"journal\":{\"name\":\"Proceedings of 1995 IEEE International Conference on Fuzzy Systems.\",\"volume\":\"30 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1995-03-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"9\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of 1995 IEEE International Conference on Fuzzy Systems.\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/FUZZY.1995.409661\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of 1995 IEEE International Conference on Fuzzy Systems.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/FUZZY.1995.409661","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Model-based fuzzy control of a trailer type mobile robot
Tanaka and Sano (1993,1994) designed a control system for backing up a computer simulated trailer type mobile robot, which is non-linear and unstable, by applying a robust stabilization technique for fuzzy systems. Furthermore, it was shown that the designed fuzzy controller smoothly achieves backing up control of the computer simulated trailer type mobile robot from all initial positions. In this paper, the author controls a real trailer type mobile robot by applying the design method proposed in the above papers. The experimental results show that the designed fuzzy controller effectively realizes backing up control of the real trailer type mobile robot.<>
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