LQR-Mapped Fuzzy Controller Applied to Attitude Stabilization of a Power-Aided-Unicycle
Abstract
Analysis of attitude stabilization of a power-aided unicycle points out that a unicycle behaves like an inverted pendulum subject to power constraint. An LQR-mapped fuzzy controller is introduced to solve this nonlinear issue by mapping LQR control reversely through least square and Sugeno-type fuzzy inference. The fuzzy rule surface after mapping remains optimal.
Domains
Computer Science [cs]
Origin : Files produced by the author(s)
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