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This paper presents a novel adaptive tracking fuzzy control scheme for a class of nonlinear system. Takagi-Sugeno (T-S) fuzzy model is employed to approximate the unknown system function. Moreover, only one parameter is necessary to be tuned online such that the complexity of the controller is reduced dramatically. All the signals in the closed-loop system is shown to be ultimately uniformly bounded,...
In this paper, fuzzy control strategy is used to improve the stability of sub-mini underwater robots. The sub-mini underwater robots' fuzzy control method in the horizontal plane is mainly discussed here. Based on the language description of the model and according to the closed-loop system's dynamic model, the fuzzy controller language is educed with the inversion of the language model. The closed-loop...
This paper deals with the nonlinear control of a lower limbs isokinetic rehabilitation device based on a Takagi-Sugeno modeling. A parallel distributed compensation control law is used to stabilize the closed-loop system in the whole operational space. The human force applied to the device's arm is considered as an external disturbance to the system dynamics. To attenuate this disturbance, an Hinfin ...
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