Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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LMI-Based Fuzzy Control for Wheeled Mobile Robot

바퀴형 이동로봇의 LMI기반 퍼지 제어

  • Choi, Hyun-Eui (Department of Electrical Engineering, Changwon National University) ;
  • Kim, Tae-Kue (Department of Electrical Engineering, Changwon National University) ;
  • Park, Seung-Kyu (Department of Electrical Engineering, Changwon National University) ;
  • Yoon, Tae-Sung (Department of Electrical Engineering, Changwon National University)
  • 최현의 (국립창원대학교 전기공학과) ;
  • 김태규 (국립창원대학교 전기공학과) ;
  • 박승규 (국립창원대학교 전기공학과) ;
  • 윤태성 (국립창원대학교 전기공학과)
  • Published : 2009.07.14
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Abstract

Wheeled mobile robot has different mobility and steerability which determined by type of wheel and it's arrangement. Generally wheeled mobile robot's dynamics are nonlinear and various control methods have studied to control the mobile robot efficiently. In this paper, a T-S fuzzy modeling of a 2-wheeled mobile robot is mand a stable LMI-based state feedback fuzzy controller is designed and applied to the position control of the mobile robot for the reference trajectory following. Also, the verification of the designed controller is done by computer simulation.

Keywords