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184
cos
u1 + d1
m
(1)
&y& =
sin
u1 + d 2
m
(2)
d sin
u2 + d3
(3)
I
with u1= uR+ uL and u2= uR- uL. The uL and uR are the
propulsive forces of left and right fans, respectively.
d1, d2 and d3 are unknown disturbances.
&& =
x& = f (x, u )
y = x1
(4)
)
) (
x& = f (x, u ) f x d , u d
(5)
= f x + x d , u + u d f x d , u d
The Lyapunov-linearized version of Eq. (4) about
(xd, ud)is
x& = A x d , u d x + B x d , u d u
where
(
(
(6)
)
)
B
d
d
= n + 1 for all x , u .
0
Clearly, the state feedback controller (Eq. (7)) provides
a gain scheduling on the given desired trajectory.xd(t)
If, however, a gain-scheduled controller is asked to be
capable of tracking various slowly time varying
signals, then the operating points in the state space
have to be chosen carefully and the local gains
designed at different operating points have to be
interpolated to form an overall nonlinear control
providing transitions between operation conditions.
The fuzzy gain scheduled control, in effect, provides an
efficient way of interpolation between the local gains.
Let xi(i=1M) be the typical point in the ith fuzzy
region and let ui be the corresponding constant input
such that f(xi, ui) = 0. Let (xd, ud) be any intermediate
operating point, that is, f(xd, ud)=0. The approximate
local fuzzy model at this point can be described by the
following fuzzy rules: (i=1M)
Rsi : if x d = LX i then
x& = A(x x d ) + B(u u d )
(9)
u = K1 (x j , u j ) (x x d ) + K 2 (x j , u j ) + u d
(10)
= x1 x1d
Rci : if x d = LX j then
f
A xd , ud =
x x = x d ,u = u d
f
B x d , ud =
u x = x d ,u = u d
185
u = K1 x d , u d x + K 2 x d , u d
& = x1 x1d
x& = i (x d ) j (x d )
(7)
where = d and d = K 21 (u d K 1 x d ) .
Applying the controller to the linear system
(Eq. (6)) yields
x& = A + BK1 BK 2 x x d
& C
0
x x d
= A
(11)
Where
i (x d ) =
(8)
i (x d )
i
d
(x )
i
(x
j
)=
j (x d )
j
d
(x )
j
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Conclusions
With the utilization of BASIC Stamp and XBEE
communication module, we have successfully
controlled the RC hovercraft and designed functional
keys to easily issue the action commands. Moreover,
the RoboRealm is used to provide the processing and
recognition for the images which are caught by
Webcam. The experimental results demonstrate that
the autonomous navigation of RC hovercraft has been
successfully performed based on image recognition
technology.
References
1
Fig. 18 Autonomous navigation of hovercraft: left and forward
direction
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