LYAPUNOV BASED FUZZY CONTROL WITH APPLICATION TO ROBOTIC SYSTEM

摘要

In this study, the construction of fuzzy controllers for a class of second order nonlinear systems is investigated. 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 methodology enables the designer to systematically derive the rule base of the control. The scheme is applied to the tracking control problem of robotic systems. The results of the fuzzy controller with those of a conventional PD controller are then compared. Numerical tests show the feasibility of the proposed control scheme. The effect of noise has also been indicated.