Journal
IET CONTROL THEORY AND APPLICATIONS
Volume 8, Issue 17, Pages 1886-1895Publisher
INST ENGINEERING TECHNOLOGY-IET
DOI: 10.1049/iet-cta.2014.0243
Keywords
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; system stability guarantee; online recurrent weight tuning; dynamic gradient descent method; learning rate; Lyapunov analytical method; system error convergence; conveyance platform
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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.
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