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In this paper, an adaptive fuzzy switched swing-up and sliding controller (AFSSSC) is proposed for the swing-up and position controls of a double-pendulum-and-cart system. The proposed AFSSSC consists of a fuzzy switching controller (FSC), an adaptive fuzzy swing-up controller (FSUC), and an adaptive hybrid fuzzy sliding controller (HFSC). To simplify the design of the adaptive HFSC, the double-pendulum-and-cart...
In our earlier study, the property of L2-gain robust control is incorporated into the direct adaptive fuzzy control design with the use of the compensative controller. The tracking control performance is guaranteed. In the study, we further employ the L2-gain property to improve the adaptive law design. Due to the L2-gain control property, the approximate error of the fuzzy system is estimable, and...
This paper proposes an antilock braking system (ABS), in which unknown road characteristics are resolved by a road estimator. This estimator is based on the LuGre friction model with a road condition parameter, and can transmit a reference slip ratio to a slip ratio controller through a mapping function considering the effect of wheel angular velocity. In the controller design, a direct adaptive fuzzy-neural...
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