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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,...
This paper is concerned with the output feedback control for fuzzy systems with immeasurable premise variables. When we consider a fuzzy system, the selection of the premise variable is important. If it is the state of the system, a fuzzy system describes a wide class of nonlinear systems. However, the state is not measurable in the output feedback control problem. Hence, the premise variable is not...
In this study a new combination of nonlinear backstepping scheme with off-line fuzzy system is presented for controlling a rotary inverted pendulum system to achieve better performance in nonlinear controller. The inverted pendulum, a popular mechatronic application, exists in many different forms. The common thread among these systems is their goal: to balance a link on end using feedback control...
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