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Conference Papers Year : 2011

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

Ping-Ho Chen
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Wei-Hsiu Hsu
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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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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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