In this article we propose a direct adaptive fuzzy control method for MIMO nonlinear plant encountered mainly in robotics. The fuzzy adaptive law ensures the stability, convergence of the controlled outputs, and "boundedness" of adaptation parameters. In this method, the approximation error of the fuzzy logic system is estimated by an adaptive law independently of external disturbances. Moreove...

This paper mainly investigates the control for the ball and beam system. Combined with the conventional dynamic surface control, an adaptive fuzzy scheme is proposed for the equilibrium balance of the ball. First, with the proper defined tracking errors of state variables, an integrating of tracking errors is considered as the fuzzy input. The parameters of fuzzy controller can be optimized by ...

This paper addresses the problem of designing fin control for the ship roll stabilization. A novel adaptive robust fuzzy control (ARFC) algorithm is presented for ship roll nonlinear system with unstructured uncertainties. In the algorithm, the Takagi-Sugeno type fuzzy logic systems are employed to approximate uncertain functions in the systems, and a systematic procedure is developed for the s...

In this paper, an adaptive control method for hybrid position/force control of robot manipulators, based on neuro-fuzzy modelling, is presented. Also, an adaptive neuro-fuzzy compensator compensates the friction force between the endeffector and the surface of the object. Due to the adaptive neuro-fuzzy modelling, the proposed controller is independent of the robot dynamics. Also, the stability...

In this paper, an adaptive H interval type-2 fuzzy controller is proposed for a class of unknown nonlinear discrete-time systems with training data corrupted by noise or rule uncertainties involving external disturbances. Adaptive interval type-2 fuzzy control scheme and H control approach are incorporated to implement the main objective of controlling the plant to track a reference trajectory....

In this paper, an adaptive H interval type-2 fuzzy controller is proposed for a class of unknown nonlinear discrete-time systems with training data corrupted by noise or rule uncertainties involving external disturbances. Adaptive interval type-2 fuzzy control scheme and H control approach are incorporated to implement the main objective of controlling the plant to track a reference trajectory....

This paper presents a new technique of compensation of the effect of variation parameters in the direct field oriented control of induction motor. The proposed method uses an adaptive tuning of the value of synchronous speed to obtain the robustness for the field oriented control. We show that this adaptive tuning allows having robustness for direct field oriented control to changes in rotor re...

Abstract: In this paper, in order to achieve tracking performance of uncertain fractional order chaotic systems an adaptive hybrid fuzzy controller is proposed. During the design procedure, a hybrid learning algorithm combining sliding mode control and Lyapunov stability criterion is adopted to tune the free parameters on line by output feedback control law and adaptive law. A weighting factor,...

Determination of the permeability coefficient is crucial for the solution of several geotechnical engineering problems such as modeling of underground flow, determination of the hydraulic properties of leachate water in waste disposal areas, calculation of the compressibility, and so on. Constant head permeability test, which is usually performed for the determination of the permeability, is ea...

This paper investigates an Adaptive Fuzzy GainsScheduling Integral Sliding Mode Controller (AFGS-ISMC) design approach to deal with the attitude and altitude stabilization problem of an Unmanned Aerial Vehicles (UAV) precisely of a quadrotor. The Integral Sliding Mode Control (ISMC) seems to be an adequate control tool to remedy this problem. The selection of the controller parameters is done m...