An Intelligent Adaptive Controller

Author

Cavalcante, Magno ; Schnitman, Leizer ; Loureiro, Augusto

Author_Institution

Mechatron. Pos-Graduation Program, Fed. Univ. of Bahia, Salvador

fYear

2008

fDate

29-30 Oct. 2008

Firstpage

71

Lastpage

75

Abstract

In this work a controller scheme is applied to a class of nonlinear systems in the form x = f (x)+g(x)u. In this method fuzzy estimators are used to estimate the function f(x) and g(x). The fuzzy system is a zero-order Takagi-Sugeno-Kang structure. The methology guarantees that the fuzzy estimates f (x|thetascirc_f ) and g(x|thetascirc_g) converge to their optimal value f(x|thetas_f*) and g(x|thetas_g*). The method is applied to an omnidirectional robot for practical results.

Keywords

adaptive control; fuzzy control; fuzzy set theory; fuzzy systems; intelligent control; mobile robots; nonlinear control systems; fuzzy estimator; fuzzy system; intelligent adaptive controller; mobile robot; nonlinear system; omnidirectional robot; zero-order takagi-sugeno-kang structure; Adaptive control; Control systems; Equations; Intelligent robots; Kinematics; Mobile robots; Nonlinear control systems; Nonlinear systems; Programmable control; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotic Symposium, 2008. LARS '08. IEEE Latin American

Conference_Location

Natal, Rio Grande do Norte

Print_ISBN

978-1-4244-3379-7

Electronic_ISBN

978-0-7695-3536-4

Type

conf

DOI

10.1109/LARS.2008.13

Filename

4812629