FUZZY CONTROLLER AND OBSERVER DESIGN FOR BACKING CONTROL OF A TRAILER-TRUCK

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.