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Volume 4 Issue 4
Oct.  2017

IEEE/CAA Journal of Automatica Sinica

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Article Navigation >  IEEE/CAA Journal of Automatica Sinica  > 2017  >  4(4): 610-619
Ping Sun and Zhuang Yu, "Tracking Control for a Cushion Robot Based on Fuzzy Path Planning With Safe Angular Velocity," IEEE/CAA J. Autom. Sinica, vol. 4, no. 4, pp. 610-619, Oct. 2017. doi: 10.1109/JAS.2017.7510607
Citation: Ping Sun and Zhuang Yu, "Tracking Control for a Cushion Robot Based on Fuzzy Path Planning With Safe Angular Velocity," IEEE/CAA J. Autom. Sinica, vol. 4, no. 4, pp. 610-619, Oct. 2017. doi: 10.1109/JAS.2017.7510607
shu

Tracking Control for a Cushion Robot Based on Fuzzy Path Planning With Safe Angular Velocity

doi: 10.1109/JAS.2017.7510607

  • School of Information Science and Engineering, Shenyang University of Technology, Shenyang 110870, China

Funds:

the Program for Liaoning Excellent Talents in University of China LJQ2014013

the Liaoning Natural Science Foundation of China 2015020066

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    Abstract
  • This study proposes a new nonlinear tracking control method with safe angular velocity constraints for a cushion robot. A fuzzy path planning algorithm is investigated and a realtime desired motion path of obstacle avoidance is obtained. The angular velocity is constrained by the controller, so the planned path guarantees the safety of users. According to Lyapunov theory, the controller is designed to maintain stability in terms of solutions of linear matrix inequalities and the controller's performance with safe angular velocity constraints is derived. The simulation and experiment results confirm the effectiveness of the proposed method and verify that the angular velocity of the cushion robot provided safe motion with obstacle avoidance.

     

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