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Stable fuzzy control for a class of nonlinear systems
Faculty
Not Specified
Year:
2003
Type of Publication:
Article
Pages:
265-278
Authors:
Moustafa, KAF, Sharkawy, AB, El-Awady, H
DOI:
10.1191/0142331203tm086oa
Journal:
TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL ARNOLD, HODDER HEADLINE PLC
Volume:
25
Research Area:
Automation \& Control Systems; Instruments \& Instrumentation
ISSN
ISI:000184948100005
Keywords :
fuzzy control, Lyapunov stability, overhead cranes, robotic manipulator
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.
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