Li-Jui Chang

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In this paper, the trajectory tracking and obstacle avoidance of a car-like mobile robot (CLMR) within an intelligent space via mixed H<sub>2</sub>/H<sub>infin</sub> decentralized control is developed. To obtain obstacle avoidance and trajectory tracking, two distributed charge-coupled device (CCD) cameras are established to realize the pose of the CLMR and(More)
In this paper, the trajectory tracking of a car-like mobile robot (CLMR) using network-based fuzzy decentralized sliding-mode control (NBFDSMC) is developed. The scaling factors and the coefficients of the sliding surface for the control of the steering angle and forward-backward velocity of a CLMR are adopted by that for the control of two motors. Due to(More)
In this paper, a partially known nonlinear dynamic system with time-varying delays of the input and state is approximated by fuzzy-based linear subsystems described by a state-space model with average delay. To shape the response of the closed-loop system, a set of fuzzy reference models is established. Similarly, the same fuzzy sets of the system rule are(More)
In this paper, a navigation system is developed. The system includes path tracking and obstacle avoidance apparatus for a car-like wheeled robot (CLWR) within an Internet-based smart-space (IBSS) using fuzzy-neural adaptive control (FNAC). Two distributed charge-coupled device (CCD) cameras are installed to capture both the dynamic pose of the CLWR and the(More)
To realize trajectory tracking and obstacle avoidance, two distributed CCD (charge-coupled device) cameras are constructed to obtain the dynamic poses of the car-like mobile robots (CLMRs) and the obstacles. Based on the control authority of these two CCD cameras, a suitable reference command including desired steering angle and translation velocity for the(More)
In this paper, the trajectory tracking of a two-dimensional piezo-driven system (2DPDS) using Internet-based fuzzy decentralized microprocessor control (IBFDMC) was developed. It was known that the piezoelectric actuator contained hysteresis, which was not one-to-one mapping and memory nonlinearity. Due to this nonlinearity and the coupling characteristic(More)
In this paper, the trajectory tracking and obstacle avoidance of a car-like mobile robot (CLMR) within an intelligent space via mixed H<sub>2</sub> / H<sub>infin</sub> decentralized control was developed. For implementing (dynamic) obstacle avoidance and trajectory tracking, two distributed CCD (charge-coupled device) cameras were established to realize the(More)
In this paper, a mixed H/sub 2//H/sub /spl infin// decentralized variable structure control for car-like mobile robot (CLMR) was developed. Under no uncertain condition, a linear discrete-time dynamic model for steering and translation subsystem was individually achieved by the recursive least-squares parameter estimation. Then the H/sub 2/-norm of output(More)
In this paper, the positioning of a piezo-driven xy table system via a fuzzy mixed H<sup>2</sup>/H<sup>infin</sup> optimization-based decentralized model reference control is developed. Each subsystem contained 6 linear pulse transfer function systems (LPTFSs). The reference model for every LPTFS was first designed to shape the response of the closed-loop(More)
In this paper, a partially known nonlinear dynamic system with input and state time-varying delay was approximated by N fuzzy-based linear subsystems described by state-space model with average-delay. For tracking the trajectory with a primary frequency, the fuzzy reference models with desired amplitude and phase features were established. Similarly, the(More)