|
|
|
|
| LEADER |
01000caa a22002652 4500 |
| 001 |
NLM177331925 |
| 003 |
DE-627 |
| 005 |
20250209042712.0 |
| 007 |
cr uuu---uuuuu |
| 008 |
231223s2001 xx |||||o 00| ||eng c |
| 024 |
7 |
|
|a 10.1109/3477.969489
|2 doi
|
| 028 |
5 |
2 |
|a pubmed25n0591.xml
|
| 035 |
|
|
|a (DE-627)NLM177331925
|
| 035 |
|
|
|a (NLM)18244851
|
| 040 |
|
|
|a DE-627
|b ger
|c DE-627
|e rakwb
|
| 041 |
|
|
|a eng
|
| 100 |
1 |
|
|a Tanaka, K
|e verfasserin
|4 aut
|
| 245 |
1 |
0 |
|a Switching control of an R/C hovercraft
|b stabilization and smooth switching
|
| 264 |
|
1 |
|c 2001
|
| 336 |
|
|
|a Text
|b txt
|2 rdacontent
|
| 337 |
|
|
|a ƒaComputermedien
|b c
|2 rdamedia
|
| 338 |
|
|
|a ƒa Online-Ressource
|b cr
|2 rdacarrier
|
| 500 |
|
|
|a Date Completed 02.10.2012
|
| 500 |
|
|
|a Date Revised 04.02.2008
|
| 500 |
|
|
|a published: Print
|
| 500 |
|
|
|a Citation Status PubMed-not-MEDLINE
|
| 520 |
|
|
|a This paper presents stable switching control of an radio-controlled (R/C) hovercraft that is a nonholonomic (nonlinear) system. To exactly represent its nonlinear dynamics, more importantly, to maintain controllability of the system, we newly propose a switching fuzzy model that has locally Takagi-Sugeno (T-S) fuzzy models and switches them according to states, external variables, and/or time. A switching fuzzy controller is constructed by mirroring the rule structure of the switching fuzzy model of an R/C hovercraft. We derive linear matrix inequality (LMI) conditions for ensuring the stability of the closed-loop system consisting of a switching fuzzy model and controller. Furthermore, to guarantee smooth switching of control input at switching boundaries, we also derive a smooth switching condition represented in terms of LMIs. A stable switching fuzzy controller satisfying the smooth switching condition is designed by simultaneously solving both of the LMIs. The simulation and experimental results for the trajectory control of an R/C hovercraft show the validity of the switching fuzzy model and controller design, particularly, the smooth switching condition
|
| 650 |
|
4 |
|a Journal Article
|
| 700 |
1 |
|
|a Iwasaki, M
|e verfasserin
|4 aut
|
| 700 |
1 |
|
|a Wang, H O
|e verfasserin
|4 aut
|
| 773 |
0 |
8 |
|i Enthalten in
|t IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society
|d 1996
|g 31(2001), 6 vom: 15., Seite 853-63
|w (DE-627)NLM098252887
|x 1941-0492
|7 nnns
|
| 773 |
1 |
8 |
|g volume:31
|g year:2001
|g number:6
|g day:15
|g pages:853-63
|
| 856 |
4 |
0 |
|u http://dx.doi.org/10.1109/3477.969489
|3 Volltext
|
| 912 |
|
|
|a GBV_USEFLAG_A
|
| 912 |
|
|
|a SYSFLAG_A
|
| 912 |
|
|
|a GBV_NLM
|
| 912 |
|
|
|a GBV_ILN_350
|
| 951 |
|
|
|a AR
|
| 952 |
|
|
|d 31
|j 2001
|e 6
|b 15
|h 853-63
|