A robust tracking control scheme for a class of nonlinear systems with fuzzy nominal model

• Autorzy: Mei, F. , Zhihong, M. , Yu, X. , Nguyen, T.
• Języki publikacji: EN

Abstrakty

EN

A novel robust tracking control scheme is proposed for a class of nonlinear systems. It is shown that a nonlinear system is first approximated by a fuzzy nominal model by aggregating a set of linearized local subsystems and then a conventional linear feedback controller is designed to stabilise the nominal system. In order to obtain good tracking performance for the controlled nonlinear system, a variable structure compensator is introduced to eliminate the effects or the approximation error and uncertainties between the fuzzy nominal model and the nonlinear system. A simulation example using a one-link rigid robotic manipulator is given in support of the proposed control scheme.

Słowa kluczowe

PL

sterowanie solidne; system nieliniowy; model rozmyty

EN

robust control; nonlinear system; fuzzy model

• Czasopismo: Applied Mathematics and Computer Science
• Rocznik: 1998
• Tom: Vol. 8, no 1
• Strony: 145-158
• Opis fizyczny: Bibliogr. 10 poz., wykr.

Twórcy

autor

Mei, F.

autor

Zhihong, M.

autor

Yu, X.

autor

Nguyen, T.

• Departament od Electrical Engineering and Computer Science, University of Tasmania, Hobart 7001, Australia,