Switching control of an R/C hovercraft: stabilization and smooth switching

@article{Tanaka2001SwitchingCO,
  title={Switching control of an R/C hovercraft: stabilization and smooth switching},
  author={Kazuo Tanaka and M. Iwasaki and Hua O. Wang},
  journal={IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics : a publication of the IEEE Systems, Man, and Cybernetics Society},
  year={2001},
  volume={31 6},
  pages={853-63}
}
This paper presents stable switching control of an radio-controlled (R/C) hovercraft that is a nonholonomic (nonlinear) system. To exactly represent its nonlinear dynamics, more importantly, to maintain controllability of the system, we newly propose a switching fuzzy model that has locally Takagi-Sugeno (T-S) fuzzy models and switches them according to states, external variables, and/or time. A switching fuzzy controller is constructed by mirroring the rule structure of the switching fuzzy… CONTINUE READING
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