NDLI: Observer-based fuzzy adaptive control for a class of nonlinear systems: real-time implementation for a robot wrist

Content Provider	IEEE Xplore Digital Library
Author	Boukezzoula, R. Galichet, S. Foulloy, L.
Copyright Year	1993
Abstract	This paper examines the tracking control problem for a class of feedback linearizable nonlinear systems for which there is no available analytic model. Based on the ability of fuzzy systems to approximate any nonlinear mapping, the unknown nonlinear system is represented by a Takagi-Sugeno (TS) fuzzy system. First, we represent the nonlinear plant with an adaptive TS fuzzy system, where the parameters are adjusted via adaptive laws according to the Lyapunov and passivity theories. Then, a fuzzy adaptive feedback linearizing controller is designed under the constraint that only the output of the plant is available for measurement. According to this constraint, a plant state observer is introduced in the proposed control structure. Finally, the feasibility of the proposed methodology is experimentally validated with a real-time implementation.
Sponsorship	IEEE Control Systems Society
Starting Page	340
Ending Page	351
Page Count	12
File Size	408123
File Format	PDF
ISSN	10636536
Volume Number	12
Issue Number	3
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2004-05-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fuzzy control Fuzzy systems Adaptive control Nonlinear systems Real time systems Robots Wrist Linear feedback control systems Nonlinear control systems Takagi-Sugeno model
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Electrical and Electronic Engineering

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