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Polynomial Fuzzy Modelling and Trajectory Tracking Control of Wheeled Mobile Robots with Input Constraint  

Kim, Cheol-Joong (아주대 전자공학과)
Chwa, Dong-Kyoung (아주대 전자공학과)
Oh, Seong-Keun (아주대 전자공학과)
Hong, Suk-Kyo (아주대 전자공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.58, no.9, 2009 , pp. 1827-1833 More about this Journal
Abstract
This paper deals with the trajectory tracking control of wheeled mobile robots with input constraint. The proposed method converts the trajectory tracking problem to the system stability problem using the control inputs composed of feedforward and feedback terms, and then, by using Taylor series, nonlinear terms in origin system are transformed into polynomial equations. The composed system model can make it possible to obtain the control inputs using numerical tool named as SOSTOOL. From the simulation results, the mobile robot can track the reference trajectory well and can have faster convergence rate of the trajectory errors than the existing nonlinear control method. By using the proposed method, we can easily obtain the control input for nonlinear systems with input constraint.
Keywords
Tracking Control; Polynomial Fuzzy model; SOSTOOL; Input Constraint;
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