A New Kinematic and Dynamic Direct Adaptive Fuzzy Control of Constrained Mobile Wheeled Vehicles

Raimondi, L.

Risultato della ricerca: Paper

10 Citazioni (Scopus)

Abstract

In this paper a new kinematic and dynamic adaptive Fuzzy control is applied to a trajectory tracking problem of a constrained vehicle with two indipendent wheels. The vehicle dynamics and kinematics are completely unknown. A dynamical and kinematical adaptive control provide to on line estimation of the dynamic and kinematic parameters of the vehicle model. Moreover the parameters of the kinematic control law are obtained using a Fuzzy controller and they are time varying and dependent on tracking errors. The stabililty of the kinematic and dynamic adaptive Fuzzy control system and the convergence of tracking errors to zero are proved using Lyapunov's method and Barbalat's Lemma. The effectiveness and efficiency of the proposed controller are demonstrated through simulation studies
Lingua originaleEnglish
Stato di pubblicazionePublished - 2005

All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cita questo

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title = "A New Kinematic and Dynamic Direct Adaptive Fuzzy Control of Constrained Mobile Wheeled Vehicles",
abstract = "In this paper a new kinematic and dynamic adaptive Fuzzy control is applied to a trajectory tracking problem of a constrained vehicle with two indipendent wheels. The vehicle dynamics and kinematics are completely unknown. A dynamical and kinematical adaptive control provide to on line estimation of the dynamic and kinematic parameters of the vehicle model. Moreover the parameters of the kinematic control law are obtained using a Fuzzy controller and they are time varying and dependent on tracking errors. The stabililty of the kinematic and dynamic adaptive Fuzzy control system and the convergence of tracking errors to zero are proved using Lyapunov's method and Barbalat's Lemma. The effectiveness and efficiency of the proposed controller are demonstrated through simulation studies",
author = "{Raimondi, L.} and Maurizio Melluso and Ciancimino, {Ludovico Salvatore}",
year = "2005",
language = "English",

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TY - CONF

T1 - A New Kinematic and Dynamic Direct Adaptive Fuzzy Control of Constrained Mobile Wheeled Vehicles

AU - Raimondi, L.

AU - Melluso, Maurizio

AU - Ciancimino, Ludovico Salvatore

PY - 2005

Y1 - 2005

N2 - In this paper a new kinematic and dynamic adaptive Fuzzy control is applied to a trajectory tracking problem of a constrained vehicle with two indipendent wheels. The vehicle dynamics and kinematics are completely unknown. A dynamical and kinematical adaptive control provide to on line estimation of the dynamic and kinematic parameters of the vehicle model. Moreover the parameters of the kinematic control law are obtained using a Fuzzy controller and they are time varying and dependent on tracking errors. The stabililty of the kinematic and dynamic adaptive Fuzzy control system and the convergence of tracking errors to zero are proved using Lyapunov's method and Barbalat's Lemma. The effectiveness and efficiency of the proposed controller are demonstrated through simulation studies

AB - In this paper a new kinematic and dynamic adaptive Fuzzy control is applied to a trajectory tracking problem of a constrained vehicle with two indipendent wheels. The vehicle dynamics and kinematics are completely unknown. A dynamical and kinematical adaptive control provide to on line estimation of the dynamic and kinematic parameters of the vehicle model. Moreover the parameters of the kinematic control law are obtained using a Fuzzy controller and they are time varying and dependent on tracking errors. The stabililty of the kinematic and dynamic adaptive Fuzzy control system and the convergence of tracking errors to zero are proved using Lyapunov's method and Barbalat's Lemma. The effectiveness and efficiency of the proposed controller are demonstrated through simulation studies

UR - http://hdl.handle.net/10447/13267

M3 - Paper

ER -