Switching Polynomial Fuzzy Networked Control Systems of Mobile Robots

• Main Authors: HUANG, RUEY-SHENG, 黃瑞盛
• Other Authors: YU, GWO-RUEY
• Format: Others
• Language: en_US
• Published: 2019
• Online Access: http://ndltd.ncl.edu.tw/handle/kx97h3

碩士 === 國立中正大學 === 光機電整合工程研究所 === 107 === This paper discusses the design of a switching polynomial fuzzy network control system, which are applied to the type-1 (T1) and interval type-2 (IT2) polynomial fuzzy networked controller by using the switching polynomial Lyapunov-Krasovskii function. The switching polynomial Lyapunov-Krasovskii function is composed of multiple local polynomial Lyapunov functions, which can expand the feasible region through relaxing stability conditions, so that the performance of the controller is better. Therefore, based on the switching polynomial Lyapunov-Krasovskii function, eight relaxed stability conditions in terms of sum of squares (SOS) are proposed, which are the stability conditions of switching T1 polynomial fuzzy networked control systems, the stability conditions of switching T1 polynomial fuzzy networked control systems with external disturbances, the stability conditions of switching T1 polynomial fuzzy networked control systems with model uncertainties, the robust stability conditions of switching T1 polynomial fuzzy networked control systems with external disturbances and model uncertainties, the stability conditions of switching IT2 polynomial fuzzy networked control systems, the stability conditions of switching IT2 polynomial fuzzy networked control systems with external disturbances, the stability conditions of switching IT2 polynomial fuzzy networked control systems with model uncertainties, the robust stability conditions of switching IT2 polynomial fuzzy networked control systems with external disturbances and model uncertainties. These stability conditions also consider the time delay and packet dropout caused by network control. Then a simulation is performed through a single-rigid robot and polynomial fuzzy models to verify the validity of the proposed theorem applied to the controller against external disturbances and model uncertainties. Finally, the wheeled mobile robot controller design is used for tracking control experiments to achieve the superiority of the theorem proposed in this paper.