ADAPTIVE NEURAL-FUZZY CONTROL OF UNCERTAIN NONHOLONOMIC SYSTEMS

摘要

An adaptive neural-fuzzy controller is presented in this paper for me- chanical systems with nonholonomic constraints in the presence of uncertainties about plant parameters. The controller is designed based on a reduced model. The neural-fuzzy (NF) controller is constructed in order to eliminate the need for dynamic modeling and error prone process in obtaining the regressor matrix. The proposed controller guarantees that the system motion asymptotically con- verges to the desired manifold. Numerical simulation are conducted to verify the e?ectiveness of the proposed method. .