Stabilization for Truck-Trailer Mobile Robot System via Discrete LPV T-S Fuzzy Models

摘要

The stability analysis and synthesis problem of discrete nonlinear Truck-Trailer Mobile Robot (TTMR) system is studied in this paper. The Linear Parameter Varying (LPV) model and Takagi-Sugeno (T-S) fuzzy model are employed to construct the discrete nonlinear TTMR system. There are few researchers discussing the stability analysis and synthesis for the discrete LPV T-S fuzzy models. Therefore, the problem discussed in this paper is worthy to receive the attention of control engineers.