Back-Upper Control of a Car-Like Robot Having a Trailer via Model-Based Fuzzy Control
Department of Mechanical Systems Engineering, Kanazawa University, 2-40-20 Kodatsuno Kanazawa, 920 Japan
In previous papers, 1,2) we designed a control system for backing up a computer-simulated, car-like robot having a trailer which is non-linear and unstable. Furthermore, we have theoretically shown 1,2) that the designed fuzzy controller smoothly achieves backing up control of this robot from all initial positions. In this paper, we realize backing up control of a real car-like robot having a trailer. The design is based on a technique of modelbased fuzzy control using a robust stability analysis and the concept of parallel distributed compensation. It is shown that the concept of parallel distributed compensation is simple and easy. Stability analysis and modelbased fuzzy controller design are described in terms of Lyapunov’s approach. The usefulness of the modelbased fuzzy controller design is then checked in the simulation. Finally, the experimental results illustrate that the designed fuzzy controller effectively realizes backing up control of the real car-like robot having a trailer.