Many researchers have controlled and analyzed biped robots that walk in the sagittal plane. Nevertheless, walking robots require the capability to walk merely laterally, when they are faced with the obstacles such as a wall. In walking robot field, both nonlinearity of the dynamic equations and also having a tracking system cause an effective control has to be utilized to address these problems...

The main objective of design methodology of a controller for forecasting cardiac arrest using fuzzy logic approach is to provide the prediction of period of life time for the patients affected by sudden death due to cardiac arrest. In this paper, the controllable risk factors “blood pressure, cholesterol, diabetic, obesity” are taken as inputs for the fuzzy logic controller and “the period of l...

Tracking of a square trajectory 12.6 m x 12.6 m by a two-link flexible robot manipulator is performed repetitively for both inverse dynamics control (IDC) and fuzzy logic control (FLC). Repetitive learning inverse dynamics control (RLIDC) achieves no improvement in tracking but repetitive learning fuzzy logic control (RLFLC) achieves greater precision where cyclic tracking enables the fuzzy inf...

This paper presents a delay compensator fuzzy control for trajectory tracking of omni-directional mobile robots. Fuzzy logic control (FLC) of the robots is a suitable strategy for dealing with model uncertainties, nonlinearities and disturbances.  On the other hand, in many robotic applications such as mobile robots, delay phenomenon is able to substantially deteriorate the behavior of system's...

This study introduces a fuzzy control design method for nonlinear systems with a guaranteed model reference tracking performance. First, the Takagi and Sugeno (TS) fuzzy model is employed to represent a nonlinear system. Next, based on the fuzzy model, a fuzzy observer-based fuzzy controller is developed to reduce the tracking error as small as possible for all bounded reference inputs. The adv...

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...

Abstract This paper addresses the problem of adaptive fuzzy tracking control for MIMO uncertain nonlinear time-delay systems. The control scheme combines adaptive fuzzy control with  H control. Adaptive time-delay fuzzy logic systems are constructed and used to approximate the uncertain unknown timedelay functions. The  H compensator is designed to eliminate fuzzy approximation errors and ext...

A methodology for the design of fuzzy control laws for tracking control of mechanical systems is described. The approach uses Lyapunov’s stability theory to formulate a class of control laws that guarantee convergence of the tracking errors to within specification limits in presence of bounded parameter uncertainties and input disturbances. The proposed methodology results in control laws that ...

Fuzzy control is a model free approach, i.e., it does not require a mathematical model of the system under control. An observer-based indirect adaptive fuzzy neural tracking control equipped with VSS and H∞ control algorithms is developed for nonlinear SISO systems involving plant uncertainties and external disturbances. Three important control methods, i.e., adaptive fuzzy neural control schem...