NDLI: Design of Fuzzy Sliding-mode Controller for Bicycle Robot Nonlinear System

Content Provider	IEEE Xplore Digital Library
Author	Lei Guo Qizheng Liao Shiming Wei
Copyright Year	2006
Description	Author affiliation: Sch. of Autom., Beijing Univ. of Posts & Telecommun., Beijing (Lei Guo; Qizheng Liao; Shiming Wei)
Abstract	The nonlinear characteristics in the bicycle robot dynamic system make the bicycle robot control much more difficult. Aiming at this problem, the fuzzy sliding-mode control method was applied to the bicycle robot nonlinear system. A kind of bicycle robot nonlinear dynamic model presented based on Lagrange method was analyzed and a sliding-mode controller was designed with the method of variable structure control theory. And a fuzzy controller was designed at the aim of chattering reduction and rapid response. The fuzzy controller can tune the parameters of sliding-mode control law automatically according to the relation of system states and switching manifold. The computer simulation results show the efficiency of the control algorithm. And the effect of the fuzzy sliding-mode controller is testified by experiments.
Starting Page	176
Ending Page	180
File Size	5125650
Page Count	5
File Format	PDF
ISBN	142440570X
DOI	10.1109/ROBIO.2006.340354
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-12-17
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Fuzzy systems Nonlinear control systems Robot control Sliding mode control Control systems Bicycles Nonlinear systems Automatic control Nonlinear dynamical systems Computer simulation Bicycle robot Nonlinear dynamic model Sliding-mode control
Content Type	Text
Resource Type	Article

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