K. Tanaka et al., FUZZY CONTROLLER AND OBSERVER DESIGN FOR BACKING CONTROL OF A TRAILER-TRUCK, Engineering applications of artificial intelligence, 10(5), 1997, pp. 441-452
This paper presents a fuzzy controller and observer design for backwar
d movement control of a trailer-truck A nonlinear dynamic model of the
trailer-truck is represented by a Takagi-Sugeno fuzzy model. The conc
ept of parallel distributed compensation is employed to design a fuzzy
controller and a fuzzy observer from the Takagi-Sugeno fuzzy model of
the trailer-truck. Stability conditions of the fuzzy control system a
re derived, using the Lyapunov approach. It is shown that the stabilit
y conditions are characterized in terms of linear matrix inequalities
(LMIs). Stability of the overall fuzzy control system, including a fuz
zy controller and a fuzzy observer is guaranteed by using a convex opt
imization technique based on LMIs. Simulation and experimental results
show that the fuzzy controller and the fuzzy observer effectively ach
ieve backward movement control of the trailer-truck. (C) 1997 Publishe
d by Elsevier Science Ltd. All rights reserved.