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In this paper, we propose a novel hybrid control system for the trajectory tracking control problem of robotic systems. The design combines fuzzy system with robust adaptive control algorithm. The fuzzy system approximates the certainty equivalent-based optimal controller, while a robustifying adaptive control term is used to cope with uncertainties due to the presence of the external disturbance,...
A new fuzzy sliding mode controller with adaptive disturbance approximation is proposed for underwater robot. A new disturbance/uncertainties compensation is presented and the Lyapunov stability theory proves the stability and convergence of the closed-loop system. Large time-varying disturbance and uncertainties are introduced in the simulation and the results demonstrate the system performance.
In this study, interval type2 fuzzy logic (IT2FL) and PID controller is designed for swing-up position control of double inverted pendulum (DIP) system. The double inverted pendulum system consists of two rigid bars connected by a revolute joint. Mass of the revolute joint is included in the dynamic model.Rigid bars in the system are assumed to experience planar motion. The pendulum system is connected...
A novel control strategy based on passivity theory was proposed with special attention to trajectory tracking and robust control of rigid robot. In this paper, robot model was divided into nominal model and uncertainty part. Based on the backstepping approach, feedback passivity was used to design controller for the nominal model. A variable structure concentrated compensation controller was adopted...
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