Abstract
The paper investigates the construction of fuzzy controllers for a class of nonlinear systems. Our approach implements fuzzy partition to the state variables based on Lyapunov synthesis. The resulting control law is stable and able to exploit the dynamic variables of the system in a linguistic manner. The proposed method enables the designer systematically to derive the rule base of the control. We implement the scheme to both tracking and stabilizing control for a two-link rigid robot and overhead crane load swing. Numerical tests show the feasibility of the proposed control scheme.
| Original language | English |
|---|---|
| Pages (from-to) | 265-278 |
| Number of pages | 14 |
| Journal | Transactions of the Institute of Measurement & Control |
| Volume | 25 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - Aug 2003 |
Keywords
- Lyapunov stability
- fuzzy control
- overhead cranes
- robotic manipulator
ASJC Scopus subject areas
- Instrumentation