Type-2 Fuzzy Logic in Control of Nonsmooth Systems - Theoretical Concepts and Applications

This book presents the synthesis and analysis of fuzzy controllers and its application to a class of mechanical systems. It mainly focuses on the use of type-2 fuzzy controllers to account for disturbances known as hard or nonsmooth nonlinearities. The book, which summarizes the authors' research on type-2 fuzzy logic and control of mechanical systems, presents models, simulation and experiments towards the control of servomotors with dead-zone and Coulomb friction, and the control of both wheeled mobile robots and a biped robot. Closed-loop systems are analyzed in the framework of smooth and nonsmooth Lyapunov functions.

List of contents

Background on Type-1 and Type-2 Fuzzy Logic.- Genetic Algorithms.- Fuzzy Lyapunov Synthesis for Nonsmooth Mechanical Systems.- Fuzzy Control for Systems with Dead-Zone and Backlash.- Fuzzy Control Synthesis for Systems with Discontinuous Friction.- Fuzzy Control for Wheeled Mobile Robots.- Fuzzy Control for Biped Robots under Impacts.

Summary

This book presents the synthesis and analysis of fuzzy controllers and its application to a class of mechanical systems. It mainly focuses on the use of type-2 fuzzy controllers to account for disturbances known as hard or nonsmooth nonlinearities. The book, which summarizes the authors’ research on type-2 fuzzy logic and control of mechanical systems, presents models, simulation and experiments towards the control of servomotors with dead-zone and Coulomb friction, and the control of both wheeled mobile robots and a biped robot. Closed-loop systems are analyzed in the framework of smooth and nonsmooth Lyapunov functions.

Product details

• Authors: Luis T Aguilar, Luis T. Aguilar, Osca Castillo, Oscar Castillo
• Publisher: Springer, Berlin
• Languages: English
• Product format: Hardback
• Released: 31.03.2019
• EAN: 9783030031336
• ISBN: 978-3-0-3003133-6
• No. of pages: 122
• Dimensions: 153 mm x 246 mm x 13 mm
• Weight: 350 g
• Illustrations: XI, 122 p. 75 illus., 18 illus. in color.
• Series: Studies in Fuzziness and Soft Computing; Studies in Fuzziness and Soft Computing
• Subjects: Natural sciences, medicine, IT, technology > Technology > General, dictionaries; B, Regelungstechnik, Robotics, Automation, Vibration, Maschinenbau: Festkörpermechanik, engineering, Civil Engineering, Dynamics, Control and Systems Theory, Mechanics of solids, Dynamical systems, Computational Intelligence, Control, Robotics, Automation, Control engineering, Robotics and Automation, Automatic control engineering, Vibration, Dynamical Systems, Control, Multibody Systems and Mechanical Vibrations