Design of Adaptive Robust Controller based on Type-2 Fuzzy Logic Systems
نویسنده
چکیده
Abstract: This paper presents a fuzzy robust controller for the nonlinear systems with uncertain dynamics. The main idea of this method is that Type-2 fuzzy system estimates nonlinear and uncertain functions exist in the system equations and then the parameters of type-2 fuzzy system are tuned online by adaptive rules obtained from Lyapunov theory and finally, stability and convergence analysis will be carried out to determine the tracking performance. At the end, simulations are implemented for an individual inverted pendulum model in two cases: certain and uncertain equations of the system. In both cases, the simulation results show that proposed tracking controller has a better performance in tracking and robustness than type-1 fuzzy controller.
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