Adaptive Control of a Class of Nonlinear Systems With a First-Order Parameterized Sugeno Fuzzy Approximator

@inproceedings{AlataAdaptiveCO,
  title={Adaptive Control of a Class of Nonlinear Systems With a First-Order Parameterized Sugeno Fuzzy Approximator},
  author={M. Alata and Chun-Yi Su and Kudret Demirli}
}
methods because the repulsion between the object and obstacle is available in closed-form. According to the simulation results, not only can an object configuration obtained with the proposed approach avoid obstacles with satisfactory (optimal) margins, a sequence of object configurations thus obtained also connect naturally into a spatially smooth object path. Preliminary results of connecting local paths obtained with the proposed local planner into a global one are also included. Despite the… CONTINUE READING
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