Wheeled human transportation vehicle implementation using output recurrent fuzzy control strategy

作者：Chiu Chih Hui^*; Chang Chun Chieh

来源：IET Control Theory and Applications, 2014, 8(17): 1886-1895.

DOI：10.1049/iet-cta.2014.0243

• fuzzy control
• dynamic response
• Lyapunov methods
• stability
• gradient methods
• learning systems
• convergence
• road vehicles
• wheeled human transportation vehicle
• output recurrent fuzzy control strategy
• human being assistant transportation system
• two-wheeled vehicle
• urban area
• low-level microprocessor
• WHTV design
• Mamdani-like output recurrent fuzzy controller
• MLORFC
• WHTV control
• system dynamics
• dynamic response
• necessary condition
• Lyapunov stability analysis

Human being assistant transportation systems have received much attention in recent years. This study proposes a wheeled human transportation vehicle (WHTV). Two-wheeled vehicles have been known as powerful transporters for urban areas. Based on a low-level microprocessor, a WHTV is designed and implemented in this study. Moreover, a Mamdani-like output recurrent fuzzy controller (MLORFC) is used to control the WHTV in this study. As the MLORFC obtains system dynamics, it is better than the traditional Mamdani-type fuzzy controllers in terms of dynamic response. A necessary condition based on the Lyapunov stability analysis is established to guarantee the system stability. The recurrent weights are tuned on-line using the dynamic gradient descent method. The learning rates of the recurrent weights are automatically settled based on a Lyapunov analytical method to achieve the system error convergence. The experiment results in Section 4 show that the conveyance platform can stably move under the proposed control strategy.

• 出版日期2014-11-20