• 전자공학회논문지 IE
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• v.46 no.2
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• pp.33-45
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• 2009

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.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.717-722
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• 2001

This paper presents a methodology on the backward path tracking control of a trailer type robot which consists of two parts: a tractor and a trailer. It is difficult to control the motion of a trailer vehicle since its dynamics is non-holonomic. Therefore, in this paper, the modeling and parameter estimation of the system using a real-coded genetic algorithm(RCGA) is proposed and a backward path tracking control algorithm is then obtained based on the linearized model. Experimental results verify the effectiveness of the proposed method.