An Intelligent Adaptive Controller

In this work a controller scheme is applied to a class of nonlinear systems in the form x = f (x)+g(x)u. In this method fuzzy estimators are used to estimate the function f(x) and g(x). The fuzzy system is a zero-order Takagi-Sugeno-Kang structure. The methology guarantees that the fuzzy estimates f (x|thetascirc_f ) and g(x|thetascirc_g) converge to their optimal value f(x|thetas_f*) and g(x|thetas_g*). The method is applied to an omnidirectional robot for practical results.