Title :
Output tracking control of Takagi-Sugeno fuzzy systems with application to an underactuated robot
Author :
Cai, Zhen ; Su, Chun-Yi
Author_Institution :
Dept. of Mech. & Ind. Eng., Concordia Univ., Montreal, Que., Canada
fDate :
6/24/1905 12:00:00 AM
Abstract :
In this paper, a global stable fuzzy observer-based fuzzy output control scheme is presented to achieve output tracking control of Takagi-Sugeno fuzzy systems. The stability of the entire closed-loop fuzzy system is ensured by the Lyapunov stability analysis. The simulation example is given to verify the theory
Keywords :
Lyapunov methods; closed loop systems; fuzzy control; nonlinear control systems; Lyapunov stability analysis; Takagi-Sugeno fuzzy systems; closed-loop fuzzy system; global stable fuzzy observer-based fuzzy output control scheme; output tracking control; simulation; stability; underactuated robots; Control system synthesis; Control systems; Error correction; Fuzzy control; Fuzzy sets; Fuzzy systems; Nonlinear control systems; Nonlinear systems; Service robots; Takagi-Sugeno model;
Conference_Titel :
Fuzzy Systems, 2002. FUZZ-IEEE'02. Proceedings of the 2002 IEEE International Conference on
Conference_Location :
Honolulu, HI
Print_ISBN :
0-7803-7280-8
DOI :
10.1109/FUZZ.2002.1006712
