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Switching control of an R/C hovercraft: stabilization and smooth switching
Summary
This study introduces a novel switching fuzzy model and controller for stable trajectory control of radio-controlled (R/C) hovercraft. The method ensures system stability and smooth control input transitions, validated by simulations and experiments.
Area of Science:
- Robotics and Control Systems
- Fuzzy Logic Systems
- Nonlinear System Dynamics
Background:
- Radio-controlled (R/C) hovercrafts are complex nonholonomic systems with nonlinear dynamics.
- Maintaining controllability and stability in such systems is challenging.
- Existing control methods may struggle with precise trajectory control and smooth transitions.
Purpose of the Study:
- To develop a stable switching control strategy for R/C hovercrafts.
- To propose a novel switching fuzzy model for accurate representation of nonlinear dynamics.
- To design a controller ensuring smooth control input switching and system stability.
Main Methods:
- A switching fuzzy model employing locally Takagi-Sugeno (T-S) fuzzy models is proposed.
- A switching fuzzy controller is designed mirroring the model's rule structure.
- Linear Matrix Inequality (LMI) conditions are derived for stability and smooth switching.
- Simultaneous solving of LMIs ensures a stable controller with smooth transitions.
Main Results:
- The proposed switching fuzzy model accurately represents the hovercraft's nonlinear dynamics.
- Stable closed-loop system performance is achieved using the LMI-based controller.
- Smooth switching of control input at boundaries is successfully guaranteed.
- Simulation and experimental results validate the effectiveness of the control strategy.
Conclusions:
- The developed switching fuzzy model and controller provide effective trajectory control for R/C hovercrafts.
- The derived LMI conditions ensure system stability and smooth control transitions.
- This approach offers a robust solution for controlling complex nonlinear systems.
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