An Observer-Based Indirect Adaptive Fuzzy Control for Rolling Carts

In this paper, an observer-based adaptive fuzzy control scheme for rolling carts with time delays and external disturbances is proposed. A simplify fuzzy modelling that can avoid complicated Lagrange´s equations is used to approximate the dynamics of the rolling cart. The observer-based fuzzy adaptive control scheme is developed to override the external disturbances such that the H^infin tracking performance is achieved. Based on Lyapunov criterion and Riccati-inequality, some sufficient conditions are derived so that all states of the system are uniformly ultimately bounded and the effect of the external disturbance on the tracking error can be attenuated to any prescribed level and consequently an H^infin tracking control is achieved. Finally, a numerical example of a rolling cart is given to illustrate the effectiveness of the proposed control scheme.