UID:
edoccha_9959767667402883
Format:
1 online resource (XI, 122 p. 75 illus., 18 illus. in color.)
Edition:
1st ed. 2019.
ISBN:
3-030-03134-9
Series Statement:
Studies in Fuzziness and Soft Computing, 373
Content:
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.
Note:
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.
Additional Edition:
ISBN 3-030-03133-0
Language:
English
DOI:
10.1007/978-3-030-03134-3
