Robust tracking designs for both holonomic and nonholonomic constrained mechanical systems: adaptive fuzzy approach

@article{Chang2000RobustTD,
  title={Robust tracking designs for both holonomic and nonholonomic constrained mechanical systems: adaptive fuzzy approach},
  author={Yeong-Chan Chang and Bor-Sen Chen},
  journal={IEEE Trans. Fuzzy Systems},
  year={2000},
  volume={8},
  pages={46-66}
}
Adaptive fuzzy-based tracking control designs will be proposed in this paper for both holonomic mechanical systems as well as a large class of nonholonomic mechanical systems with plant uncertainties and external disturbances. A unified and systematic procedure is employed to derive the controllers for both holonomic and nonholonomic mechanical control systems, respectively. First, a fuzzy logic system is introduced to learn the behavior of unknown (or uncertain) mechanical dynamics by using an… CONTINUE READING
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