期刊
FUZZY SETS AND SYSTEMS
卷 160, 期 12, 页码 1787-1803出版社
ELSEVIER
DOI: 10.1016/j.fss.2008.09.013
关键词
Wheeled inverted pendulum; Fuzzy logic control; Zero dynamics
资金
- National University of Singapore
- Shanghai Pujiang Program [08PJ 14070]
- Natural Science Foundation of China [60804003]
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. (C) 2008 Elsevier B.V. All fights reserved.
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