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

  • Wen-Jer Chang
  • Po-Hsun Chen
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 193)


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.


fuzzy control Takagi-Sugeno fuzzy model discrete linear parameter varying model linear matrix inequality 


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Copyright information

© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Dept. of Marine EngineeringNational Taiwan Ocean UniversityKeelungTaiwan, R.O.C.

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