孙建忠

个人信息Personal Information

教授

硕士生导师

性别:男

毕业院校:沈阳工业大学

学位:博士

所在单位:电气工程学院

学科:电机与电器

办公地点:大连理工大学A3区31号
电力电子研究所207

联系方式:0411-84706669

电子邮箱:jzsun@dlut.edu.cn

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Indirect adaptive fuzzy control for a nonholonomic/underactuated wheeled inverted pendulum vehicle based on a data-driven trajectory planner

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论文类型:期刊论文

发表时间:2016-05-01

发表刊物:FUZZY SETS AND SYSTEMS

收录刊物:SCIE、EI

卷号:290

页面范围:158-177

ISSN号:0165-0114

关键字:Adaptive mechanism; Data-driven; Indirect fuzzy control; Nonholonomic/underactuated; Wheeled inverted pendulum

摘要:In this study, we investigate an error data-based trajectory planner and indirect adaptive fuzzy control for a class of wheeled inverted pendulum vehicle systems. Based on the error dynamics, the closed-loop trajectory planner can generate the desired velocity values. Using the virtual acceleration input for the tilt angle subsystem, composite control for the rotational and longitudinal subsystems can be constructed via indirect adaptive fuzzy and sliding mode control approaches to achieve simultaneous velocity tracking and tilt angle stabilization. We rigorously prove the system stability and convergence of the tracking error signals using the Lyapunov theory and LaSalle's invariance theorem. The results of our numerical simulations demonstrated the efficiency of the proposed control strategies and the implementations of the algorithms. (C) 2015 Elsevier B.V. All rights reserved.