Abstract
A robust tracking control design for wheeled vehicle systems with trailer, based on an adaptive fuzzy elimination technique, is proposed. A minimax control equipped with adaptive fuzzy elimination scheme is used to achieve a robust tracking performance, despite the system uncertainties and external disturbance. The design procedure is divided into three steps, First, a nominal wheeled vehicle control design is obtained via model reference tracking with desired eigenvalue assignment. Second, a fuzzy logic system is constructed, which is subsequently tuned to eliminate the nonlinear uncertainties as much as possible, in order to enhance the tracking robustness. Finally, a minimax control scheme is specified to optimally attenuate the worst case effect of the residue of fuzzy elimination on tracking error below a desired level to meet a robust tracking performance. An adaptive fuzzy-based H/sub /spl infin// optimization theory has been employed to solve the minimax problem. A simulation experiment of the wheeled vehicle with trailer is also presented in order to illustrate the tracking performance of the proposed design method.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
