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Digital Implementation of Backing up control of Truck-trailer type Mobile Robots  

Ku, Ja-Yl (Department of Digital Electronics, Inha Technical College)
Park, Chang-Woo (Department of Digital Electronics, Inha Technical College)
Publication Information
전자공학회논문지 IE / v.46, no.2, 2009 , pp. 33-45 More about this Journal
Abstract
In this paper, the implementation of the backward movement control of a truck-trailer type mobile robot using fuzzy model based control scheme considering the practical constraints, computing time-delay and quantization is presented. We propose the fuzzy feedback controller whose output is delayed with unit sampling period and predicted. The analysis and the design problem considering the computing time-delay become very easy because the proposed controller is syncronized with the sampling time. Also, the stability analysis is made when the quantization exists in the implementation of the fuzzy control architectures and it is shown that if the trivial solution of the fuzzy control system without quantization is asymptotically stable, then the solutions of the fuzzy control system with quantization are uniformly ultimately bounded. The experimental results are shown to verify the effectiveness of the proposed scheme.
Keywords
Computing time-delay; quantization; fuzzy model; fuzzy control; truck-trailer type vehicle;
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