Guaranteed rates of exponential convergence for uncertain systems
Journal of Optimization Theory and Applications
Stability analysis and design of fuzzy control systems
Fuzzy Sets and Systems
On the analysis of fuzzy logic controllers
Fuzzy Sets and Systems
A course in fuzzy systems and control
A course in fuzzy systems and control
Fuzzy adaptive control for a class of nonlinear systems
Fuzzy Sets and Systems
Fuzzy Lyapunov-based approach to the design of fuzzy controllers
Fuzzy Sets and Systems - Special issue on fuzzy modeling and dynamics
Industrial Applications of Fuzzy Logic and Intelligent Systems
Industrial Applications of Fuzzy Logic and Intelligent Systems
Theory of Robot Control
Nonlinear and Optimal Control Systems
Nonlinear and Optimal Control Systems
Control of Robot Manipulators
Decentralized PD and Robust Nonlinear Control for Robot Manipulators
Journal of Intelligent and Robotic Systems
Robust fuzzy logic control of mechanical systems
Fuzzy Sets and Systems - Theme: Fuzzy control
An adaptive fuzzy controller based on sliding mode for robotmanipulators
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Fuzzy logic based set-point weight tuning of PID controllers
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
On stability of fuzzy systems expressed by fuzzy rules with singleton consequents
IEEE Transactions on Fuzzy Systems
Piecewise quadratic stability of fuzzy systems
IEEE Transactions on Fuzzy Systems
Robust fuzzy logic control of mechanical systems
Fuzzy Sets and Systems - Theme: Fuzzy control
An intelligent robust tracking control for electrically-driven robot systems
International Journal of Systems Science
Adaptive control of robot manipulators using fuzzy logic systems under actuator constraints
Fuzzy Sets and Systems
High-order fuzzy sliding manifold control
Fuzzy Sets and Systems
International Journal of Advanced Intelligence Paradigms
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An approach for the design of fuzzy control laws for tracking control of a large class of mechanical systems is proposed. The approach employs the framework of Lyapunov's stability theory to formulate a class of control laws that guarantee convergence of the tracking errors to within specification limits in presence of bounded parameter uncertainties and input disturbances. The proposed control laws possess a large number of parameters and functional relationships to be chosen by the designer according to a methodology developed in the paper. The large number of design degrees of freedom makes the approach suitable for fuzzy logic implementation. A number of fuzzy implementations of the proposed control methodology are provided. All implementations guarantee tracking error convergence to within prespecified performance limits. An extensive simulation study using a model of a two-degree-of-freedom robot manipulator was conducted. Fuzzy and non-fuzzy implementations of the proposed methodology were compared to control laws designed using other design methods. Simulation study results indicate a superiority of the proposed control methodology compared to other approaches. The study also demonstrates better performance of the fuzzy control implementation compared to its non-fuzzy counterpart.