Stable switching fuzzy control and its application to a hovercraft type vehicle

Tanaka, Kazuo; Iwasaki, Masaaki; Wang, H.O.

doi:10.1109/fuzzy.2000.839135

Cited by 47 publications

(30 citation statements)

References 22 publications

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“…In typical applications, a supervisor monitors system performance and effects switching between various plant models [11], for example, in [23] for trajectory planning of a hovercraft and to stabilize a small-scale helicopter after rotor failure [15]. Spong [22] has suggested that human ambulation is too complicated to achieve with a single controller and robust grasping likely offers similar complexity.…”

Section: Introductionmentioning

confidence: 99%

Nonholonomic and stratified robotic manipulation supplemented with fuzzy control: Theory and experiment

Petroff¹

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents initial results in the novel integration of nonholonomic and stratified motion planning, fuzzy control and tactile sensing to construct a robotic manipulation system that is designed to be both dexterous and robust. It is dexterous in that it is fully nonlinear, can explicitly incorporate discontinuities in the motion planning i.e., finger gaiting, and allows rolling finger contacts. The sensing and fuzzy controller are intended to provide robustness that is necessary for realworld manipulation tasks that are characterized by modeling errors and are subjected to unmodeled external disturbances. The method is demonstrated experimentally using a set of four robots with end-effectors equipped with force sensors to provide feedback to the fuzzy supervisory control system.

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Section: Introductionmentioning

confidence: 99%

Nonholonomic and stratified robotic manipulation supplemented with fuzzy control: Theory and experiment

Petroff¹

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The stability and stabilization issues of fuzzy control systems have been extensively studied [2,[4][5][6][7][8][9][10][11][12][13][14][16][17][18][19][20][21][22][23][24][25][26][27][28][29][30][31]33,34]. Generally, fuzzy systems are recognized as a kind of nonlinear systems.…”

Section: Introductionmentioning

confidence: 99%

Relaxed stability and stabilization conditions for a T–S fuzzy discrete system

Wang

Sun

2005

Fuzzy Sets and Systems

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“…Recently, a great number of theoretical results are available for switched fuzzy systems. By using a common or multiple Lyapunov functions method, stability issues for switched fuzzy systems were considered in [35][36][37][38][39]. However, the existing literature on fuzzy SPSSs is rather limited.…”

Section: Introductionmentioning

confidence: 99%

H_∞ Control for T‐S Fuzzy Singularly Perturbed Switched Systems

Wang

Zhou

Dai

et al. 2017

Mathematical Problems in Engineering

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This paper is concerned with the design of fuzzy controller with guaranteed ∞ performance for a class of Takagi-Sugeno (T-S) fuzzy singularly perturbed switched systems. First, by using the average dwell time approach together with the piecewise Lyapunov function technique, a state feedback controller that depends on the singular perturbation parameter is developed. This controller is shown to work well for all ∈ (0, 0 ]. Then, for sufficiently small , an -independent controller design method is proposed. Furthermore, under the -independent controller, the -bound estimation problem of the overall switched closed-loop system is solved. Finally, an inverted pendulum system is used to evaluate the feasibility and effectiveness of the obtained results.

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Stable switching fuzzy control and its application to a hovercraft type vehicle

Cited by 47 publications

References 22 publications

Nonholonomic and stratified robotic manipulation supplemented with fuzzy control: Theory and experiment

Nonholonomic and stratified robotic manipulation supplemented with fuzzy control: Theory and experiment

Relaxed stability and stabilization conditions for a T–S fuzzy discrete system

H_∞ Control for T‐S Fuzzy Singularly Perturbed Switched Systems

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Stable switching fuzzy control and its application to a hovercraft type vehicle

Cited by 47 publications

References 22 publications

Nonholonomic and stratified robotic manipulation supplemented with fuzzy control: Theory and experiment

Nonholonomic and stratified robotic manipulation supplemented with fuzzy control: Theory and experiment

Relaxed stability and stabilization conditions for a T–S fuzzy discrete system

H∞ Control for T‐S Fuzzy Singularly Perturbed Switched Systems

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H_∞ Control for T‐S Fuzzy Singularly Perturbed Switched Systems