Robust adaptive fuzzy control for nonlinear uncertain systems with unknown dead-zone and unknown upper bound of uncertainties

2009 ◽  
Author(s):  
Chih-Lyang Hwang ◽  
Chiang-Cheng Chiang ◽  
Wei-Yu Chen
Keyword(s):  
Fuzzy Control ◽  
Upper Bound ◽  
Uncertain Systems ◽  
Dead Zone ◽  
Adaptive Fuzzy Control ◽  
Adaptive Fuzzy ◽  
Nonlinear Uncertain Systems ◽  
Robust Adaptive

scholarly journals Observer-Based Robust Adaptive Fuzzy Control for MIMO Nonlinear Uncertain Systems with Delayed Output

2013 ◽  
Vol 2013 ◽  
pp. 1-12 ◽  
Author(s):  
Chiang Cheng Chiang
Keyword(s):  
Nonlinear System ◽  
Fuzzy Control ◽  
Robust Stability ◽  
Uncertain Systems ◽  
Fuzzy Controller ◽  
Adaptive Fuzzy Control ◽  
Controlled System ◽  
Adaptive Fuzzy ◽  
Nonlinear Uncertain Systems ◽  
Robust Adaptive

An observer-based robust adaptive fuzzy control scheme is presented to tackle the problem of the robust stability and the tracking control for a class of multiinput multioutput (MIMO) nonlinear uncertain systems with delayed output. Because the nonlinear system functions and the uncertainties of the controlled system including structural uncertainties are supposed to be unknown, fuzzy logic systems are utilized to approximate these nonlinear system functions and the upper bounded functions of the uncertainties. Moreover, the upper bound of uncertainties caused by these fuzzy modeling errors is also estimated. In addition, the state observer based on state variable filters is designed to estimate all states which are not available for measurement in the controlled system. By constructing an appropriate Lyapunov function and using strictly positive-real (SPR) stability theorem, the proposed robust adaptive fuzzy controller not only guarantees the robust stability of a class of multivariable nonlinear uncertain systems with delayed output but also maintains a good tracking performance. Finally, some simulation results are illustrated to verify the effectiveness of the proposed control approach.

scholarly journals Reinforcement Adaptive Fuzzy Control for a Class of Nonlinear Uncertain Systems

2001 ◽  
Vol 34 (22) ◽  
pp. 197-202
Author(s):  
Young H. Kim ◽  
Frank L. Lewis ◽  
Chiman Kwan
Keyword(s):  
Fuzzy Control ◽  
Uncertain Systems ◽  
Adaptive Fuzzy Control ◽  
Adaptive Fuzzy ◽  
Nonlinear Uncertain Systems

scholarly journals Robust Adaptive Fuzzy Control via State-Dependent Function for Nonlinear Stochastic Large-Scale Systems Subject to Dead Zones

Complexity ◽  
2021 ◽  
Vol 2021 ◽  
pp. 1-17
Author(s):  
Chang-Qi Zhu ◽  
Lei Liu
Keyword(s):  
Fuzzy Control ◽  
Large Scale ◽  
Dead Zone ◽  
Adaptive Fuzzy Control ◽  
Closed Loop System ◽  
Large Scale Systems ◽  
Adaptive Fuzzy ◽  
State Dependent ◽  
Control Scheme ◽  
Robust Adaptive

This paper concentrates on the adaptive fuzzy control problem for stochastic nonlinear large-scale systems with constraints and unknown dead zones. By introducing the state-dependent function, the constrained closed-loop system is transformed into a brand-new system without constraints, which can realize the same control objective. Then, fuzzy logic systems (FLSs) are used to identify the unknown nonlinear functions, the dead zone inverse technique is utilized to compensate for the dead zone effect, and a robust adaptive fuzzy control scheme is developed under the backstepping frame. Based on the Lyapunov stability theory, it is proved ultimately that all signals in the closed-loop system are bounded and the tracking errors converge to a small neighborhood of the origin. Finally, an example based on an actual system is given to verify the effectiveness of the proposed control scheme.

Locomotion control of a hydraulically actuated hexapod robot by robust adaptive fuzzy control and dead-zone compensation

Robotica ◽  
2006 ◽  
Vol 25 (3) ◽  
pp. 269-281 ◽  
Author(s):  
Ranjit Kumar Barai ◽  
Kenzo Nonami
Keyword(s):  
Fuzzy Control ◽  
Dead Zone ◽  
Tracking Error ◽  
Adaptive Fuzzy Control ◽  
Control Technique ◽  
Joint Control ◽  
Locomotion Control ◽  
Adaptive Fuzzy ◽  
Hydraulically Actuated ◽  
Robust Adaptive

SUMMARYThis investigation presents locomotion control of a hydraulically actuated six-legged humanitarian demining robot by robust adaptive fuzzy control in conjunction with the dead zone compensation technique within independent joint control framework. For proper locomotion of the demining robot, accurate tracking of the desired joint trajectory is very important. However, high degree of nonlinearity, the uncertainties due to changing hydraulic properties, and delay due to the flow of oil and dead zone of the proportional electromagnetic control valve results into an inaccurate plant model for the hydraulically actuated robotic joints. Consequently, model-based classical control techniques result into a large tracking error. Therefore, adaptive fuzzy control technique, being a model independent control paradigm for complex and uncertain systems, is a good choice for such systems. In this work, a hydraulic dead zone compensated robust adaptive fuzzy control law has been proposed for locomotion control of hydraulically actuated hexapod demining robot. The experimental results exhibit a fairly accurate trajectory tracking of the leg joints and, consequently, very stable locomotion of the walking robot.

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