Time-varying feedback stabilization of car-like wheeled mobile robots
International Journal of Robotics Research
Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach
Fuzzy Control Systems Design and Analysis: A Linear Matrix Inequality Approach
A path planning algorithm for industrial robots
Computers and Industrial Engineering - 26th International conference on computers and industrial engineering
Tracking-error model-based predictive control for mobile robots in real time
Robotics and Autonomous Systems
Trajectory tracking control for a wheeled mobile robot using fuzzy logic controller
ICS'05 Proceedings of the 9th WSEAS International Conference on Systems
Tracking-error model-based PDC control for mobile robots with acceleration limits
FUZZ-IEEE'09 Proceedings of the 18th international conference on Fuzzy Systems
A method for obstacle avoidance in role reassignment of robot formation control
WSEAS TRANSACTIONS on SYSTEMS
NN'10/EC'10/FS'10 Proceedings of the 11th WSEAS international conference on nural networks and 11th WSEAS international conference on evolutionary computing and 11th WSEAS international conference on Fuzzy systems
Takagi-Sugeno vs. Lyapunov-based tracking control for a wheeled mobile robot
WSEAS Transactions on Systems and Control
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This paper deals with Takagi-Sugeno modelling and control of nonholonomic mobile robots in the case when the measurements are given by the camera. The measurements in such case are difficult to deal with: they are given only in discrete time samples, usually they are delayed, a high-level noise is present on the measurements. The nonlinear tracking error-model is solved analytically under the premise of ZOH present at the system input. The nonlinear discrete model is developed. Several discretization issues are discussed and the modelling errors are analysed. The sector nonlinearity approach is used for constructing the Takagi-Sugeno model. The control is designed in the LMI framework. Some performance issues are discussed on the simulation cases.