Preventing bursting in approximate-adaptive control when using local basis functions
Fuzzy Sets and Systems
Recent Literature Collected by Didier DUBOIS, Henri PRADE and Salvatore SESSA
Fuzzy Sets and Systems
Extension of fuzzy adaptive laws to IT2 fuzzy systems
FUZZ-IEEE'09 Proceedings of the 18th international conference on Fuzzy Systems
Applying grey-fuzzy-fuzzy rule to machine vision based unmanned automatic vehicles
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
Hi-index | 0.00 |
Fuzzy adaptive tracking controllers for a class of uncertain nonlinear dynamical systems are proposed and analyzed. The controllers consist of adaptive and robustifying components whose role is to ify the effects of uncertainties and to achieve a desired tracking performance. The interactions between the two components have been investigated. The closed-loop system driven by the proposed controllers is shown to be stable with all the adaptation parameters being bounded. In particular, the proposed controllers guarantee uniform ultimate boundedness of the tracking error and the time bound of the uniform ultimate boundedness is obtained. An upper bound on the steady-state tracking error is obtained as a function of the gain of the robustifying term and the parameters of the adaptive component. The controllers are tested on an inverted pendulum and simulation results are included. A comparison of the proposed controllers with the ones in the literature is conducted.