Abstract
This paper presents a fuzzy controller and observer design for backward movement control of a trailer-truck. A nonlinear dynamic model of the trailer-truck is represented by a Takagi-Sugeno fuzzy model. The concept of parallel distributed compensation is employed to design a fuzzy controller and a fuzzy observer from the Takagi-Sugeno fuzzy model of the trailer-truck. Stability conditions of the fuzzy control system are derived, using the Lyapunov approach. It is shown that the stability conditions are characterized in terms of linear matrix inequalities (LMIs). Stability of the overall fuzzy control system, including a fuzzy controller and a fuzzy observer, is quaranteed by using a convex optimization technique based on LMIs. Simulation and experimental results show that the fuzzy controller and the fuzzy observer effectively achieve backward movement control of the trailer-truck.
Published Version
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