The following information was submitted:
Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 88-118
Full Name: Saso Blazic
Position: Associate Professor
Age: ON
Sex: Male
Address: Trzaska 25
Country: SLOVENIA
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E-mail address: saso.blazic@fe.uni-lj.si
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Title of the Paper: Takagi-Sugeno vs. Lyapunov-based tracking control for a wheeled mobile robot
Authors as they appear in the Paper: Saso Blazic
Email addresses of all the authors: saso.blazic@fe.uni-lj.si
Number of paper pages: 10
Abstract: In this paper a novel kinematic model is proposed where the transformation between the robot posture and the system state is bijective. Two control approaches are proposed to solve the tracking problem. One approach is based on the Takagi-Sugeno fuzzy model where a parallel distributed compensation control is used. The alternative approach is to use Lyapunov stability analysis to construct a nonlinear controller that achieves asymptotic stability if reference velocities satisfy the condition of persistent excitation.
Keywords: Mobile robot, Kinematic model, Takagi-Sugeno model, PDC control, Lyapunov stability
EXTENSION of the file: .pdf
Special (Invited) Session: Comparison of Takagi-Sugeno and Lyapunov based tracking controls for a novel kinematic model of a mobile robot
Organizer of the Session: 632-263
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