LQR-Mapped Fuzzy Controller Applied to Attitude Stabilization of a Power-Aided-Unicycle - Artificial Intelligence Applications and Innovations - Part II
Conference Papers Year : 2011

LQR-Mapped Fuzzy Controller Applied to Attitude Stabilization of a Power-Aided-Unicycle

Ping-Ho Chen
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Tungnan University
Wei-Hsiu Hsu
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Tungnan University
Ding-Shinan Fong
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Tungnan University

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.

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Computer Science [cs]
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Submitted on : Wednesday, August 2, 2017-4:22:12 PM

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hal-01571467 , version 1 (02-08-2017)

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Ping-Ho Chen, Wei-Hsiu Hsu, Ding-Shinan Fong. LQR-Mapped Fuzzy Controller Applied to Attitude Stabilization of a Power-Aided-Unicycle. 12th Engineering Applications of Neural Networks (EANN 2011) and 7th Artificial Intelligence Applications and Innovations (AIAI), Sep 2011, Corfu, Greece. pp.98-103, ⟨10.1007/978-3-642-23960-1_12⟩. ⟨hal-01571467⟩

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