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A class of model-free fuzzy controllers based on the Lyapunov-function reasoning is presented for a Macro-Micro Manipulator (M3) system. The control strategy uses the structural properties of the system model and assumes no other a priori knowledge about the system dynamics. Although, in general, the control structure can be regarded as a fuzzy controller, it may also be interpreted as a nonlinear multi-input multi-output (MIMO) proportional-integral-differential (PID) controller. An experimental setup consisting of a three-link M3 is considered as a practical case study. The test-bed is a nonlinear nonminimum phase MIMO system with a complex model and considerable joint frictions. Experimental results are presented to illustrate the improved performance of the proposed control strategy over a joint PD controller.

In this paper, we investigate the problem of designing embedded decentralized discrete-event controllers over communication networks. It is assumed that there is a path between every pair of processes in the network. The control objective is specified by a prefix-closed language that is controllable and observable, but not coobservable. The paper is focused on communication among processes necessary to meet the control objective. As such, process models are left unspecified; it is only required that disabling any of the controllable events do not block communication among processes. Our findings support the idea that in the presence of ideal communication channels, the protocol design for noncoobservable specifications can be reduced to the synthesis of communicating decentralized supervisors, and we propose solutions for a restricted class of problems. The paper is concluded with a positive result for the case where channels are unreliable.Index Terms-Decentralized supervisory control, discrete-event systems (DESs), protocol design.

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