An approach for the design of fuzzy control laws for tracking control of a large class of mechanical systems is proposed. The approach employs the framework of Lyapunov’s stability theory to formulate a class of control laws that guarantee convergence of the tracking errors to within speci3cation limits in presence of bounded parameter uncertainties and input disturbances. The proposed control ...

A robust H∞ observer-based tracking control of stochastic immune response is proposed for therapeutic enhancement to track a prescribed immune response under uncertain initial states, environmental disturbances and measurement noises. The statistics of initial condition, environmental and measurement noises are assumed unavailable. Further, the state variables may not all be available and may b...

Mamdani and Takagi-Sugeno fuzzy controllers were prepared. The controllers were designed using Fuzzy Logic Toolbox. The membership functions and rules were used as design tools that give opportunity to model a control surface and controller properties. The control system of d.c. (direct current) motor drive with two feedback loops is considered. First loop is used for stabilization of armature ...

A novel robust adaptive fuzzy control algorithm is presented for autonomous surface vehicle (ASV) autopilot. This paper studies an approach for fuzzy rule base optimization. The optimization solution especially solves the non-compatible problem in the generation process of fuzzy control rules. For the design study, the optimization model has been carried out in the simulink environment. It is s...

This paper proposes a fuzzy-identification-based adaptive control scheme for the chaotic dynamic systems using backstepping control approach, which is referenced as adaptive fuzzy backstepping control (AFBC). The proposed AFBC offers a design approach to drive the chaotic trajectory to track a desired trajectory, and it is comprised of a fuzzy backstepping controller and a robust controller. Th...

Underactuated biped robots control is one of the interesting topics in robotics. The main difficulties are its highly nonlinear dynamics, open-loop instability, and discrete event at the end of the gait. One of the methods to control underactuated systems is the partial feedback linearization, but it is not robust against uncertainties and disturbances that restrict its performance to control b...

This work presents an integrated robust adaptive control scheme that merges the fuzzy control algorithm with the Cerebellar Model Arithmetic Control (CMAC) for unknown systems. The presented adaptation mechanism is used to tune the weight parameters in the CMAC, such that a given ideal stable controller will be best approximated without prior off-line learning phase required. A robust controlle...

This paper presents the robust fuzzy fault tolerant control (FFTC) for nonlinear wind energy conversion systems (WECS) in the presence of bounded sensor faults and the state variable unavailable for measurement based on Takagi-Sugeno (TS) fuzzy model. Sufficient conditions are derived for robust stabilization in the sense of Lyapunov asymptotic stability and are formulated in the format of line...

This paper presents robust H∞ fuzzy controllers for a class of T-S fuzzy bilinear systems (FBSs) with time-delay. First, the parallel distributed compensation (PDC) method is adopted to design a fuzzy controller which ensures the robust asymptotic stability of the FBS with time-delay and guarantees an H∞ norm bound constraint on disturbance attenuation. Based on the Schur complement and some va...