期刊
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
卷 59, 期 12, 页码 4774-4783出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2011.2180489
关键词
Lyapunov stability analysis; Mamdani-like fuzzy control; microprocessor; wheeled human-conveyance vehicle (WHCV)
资金
- National Science Council of Taiwan [NSC 100-2221-E-155-007]
A wheeled human-conveyance vehicle (WHCV) with a low-level microprocessor is realized in this paper. WHCVs are environmentally friendly short-range transportation vehicles. This paper proposes a simple Mamdani-like fuzzy controller for self-balancing WHCV control. System stability is guaranteed by establishing sufficient conditions based on the Lyapunov stability analysis. Finally, experimental results show that the proposed Mamdani-like fuzzy control strategy can control the WHCV.
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