NDLI: The mixed fuzzy controller for anti-braking systems with quasi-nonholonomic constraints

Content Provider	IEEE Xplore Digital Library
Author	Han-Pang Huang Ching-Kuo Wang Jiunn-Cherng Wang
Copyright Year	1999
Description	Author affiliation: Robotics Lab., Nat. Taiwan Univ., Taipei, Taiwan (Han-Pang Huang)
Abstract	Quasi-constrained dynamics consists of motion not only in constraint space but also in unconstrained or "freedom" space, which may occur when the system escapes or slips away from its constraint manifold during high-speed motion. Traditionally, slippage phenomena, an issue in the automobile industry, is usually ignored because of its high frequency and strong nonlinear features. The conventional Frobenius theorem is focused on holonomic dynamics, which are integrable in freedom space. A complementary Frobenius theorem (CFT) is proposed to release the conventional constraints from "hard" to "soft" models. We derive a geometric formulation, instead of its algebraic counterpart, for acatastatically nonholonomic systems from the topological viewpoint. We also propose a mixed fuzzy controller (MFC) for the nonholonomic system with escaping motion, which includes a traditional controller for the hard subsystem and a non-traditional controller with fuzzy rules for the soft subsystem on the constraint manifold. The closed-loop stability of the nonholonomic system with an MFC scheme is proved under admissible conditions. Finally, the proposed algorithm is applied to a wheeled vehicle with an anti-lock braking system (ABS) under the assumption of Coulomb viscous friction. Computer simulation is used to justify the results.
Starting Page	331
Ending Page	336
File Size	612202
Page Count	6
File Format	PDF
ISBN	0780357310
ISSN	1062922X
DOI	10.1109/ICSMC.1999.814112
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-10-12
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Fuzzy systems Control systems Motion control Vehicle dynamics Automobiles Electrical equipment industry Frequency Nonlinear dynamical systems Constraint theory
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Fuzzy tuned nonlinear rate controller for manipulators

Development of fuzzy state controller for a hydraulic position servo

Towards robust control with constraints for a class of dynamical systems: Theory and application

A nonlinear controller for marine vehicle Control roll motion of ship

A fuzzy logic based controller for a three link manipulator

Integrated vehicle control

Adaptive sliding controller for active suspension system

Study of fuzzy PID controller for industrial steam turbine governing system

Application of fuzzy controller for a special triangle robot with two degrees of freedom

The mixed fuzzy controller for anti-braking systems with quasi-nonholonomic constraints

Similar Documents

Fuzzy tuned nonlinear rate controller for manipulators

Development of fuzzy state controller for a hydraulic position servo

Towards robust control with constraints for a class of dynamical systems: Theory and application

A nonlinear controller for marine vehicle Control roll motion of ship

A fuzzy logic based controller for a three link manipulator

Integrated vehicle control

Adaptive sliding controller for active suspension system

Study of fuzzy PID controller for industrial steam turbine governing system

Application of fuzzy controller for a special triangle robot with two degrees of freedom

The mixed fuzzy controller for anti-braking systems with quasi-nonholonomic constraints