An Intelligent Adaptive Controller
M. P. Cavalcante, Leizer Schnitman, Augusto Loureiro · 2008
In this work a controller scheme is applied to a class of nonlinear systems in the form x = f (x)+g(x)u. In this method fuzzy estimators are used to estimate the function f(x) and g(x). The fuzzy system is a zero-order Takagi-Sugeno-Kang structure. The methology guarantees that the fuzzy estimates f (x|thetascircf) and g(x|thetascircg) converge to their optimal value f(x|thetasf*) and g(x|thetasg*). The method is applied to an omnidirectional robot for practical results.