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            将本页翻译成中文
            您现在的位置:首页> 外文期刊>Industrial Electronics, IEEE Transactions on >文献详情
            【6h】

            Design and Implementation of an Omnidirectional Spherical Mobile Platform

            【摘要】In this paper, an intelligent tracking control system (ITCS) is proposed for an omnidirectional spherical mobile platform (ODSMP) control problem. This intelligent tracking control system combined with a dual Mamdani-type fuzzy control strategy and supervisory control technique is proposed for ODSMPs real-world control with unknown system external disturbances. Then, this platform can move to any direction with no constraint. Since the dynamic characteristic of the spherical platform is nonlinear and time varying, an intelligent control method with little system information is designed. The stability of ITCS, which is based on the Lyapunov stability theorem, can be ensured without any strict constraint and detailed system knowledge such that it can flexibly extend to other control problems. In the end, the efficiency of the intelligent tracking control system is verified by ODSMP real-world implementation.

            【期刊名称】 Industrial Electronics, IEEE Transactions on

            【作者】Chiu, C.;Tsai, W.;

            【作者单位】;

            【收录信息】;

            【年(卷),期】2015(62),3

            【年度】2015

            【页码】1619-1628

            【总页数】10

            【原文格式】PDF

            【正文语种】eng

            【中图分类】;

            【关键词】Artificial intelligence;Control systems;DC motors;Fuzzy control;Mathematical model;Mobile communication;Mobile robots;Lyapunov stability theorem;Mamdani-type fuzzy controller;Mamdani-type fuzzy controller (FC);Omni-directional spherical mobile platform;Supervisory control;omnidirectional spherical mobile platform (ODSMP);supervisory control;

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