A robust fuzzy control is developed for robot manipulators to guarantee both global stability and Performance. Robot dynamics under consideration may include large nonlinear uncertainties, such as nonlinear load variations and unmodelled dynamics. Fuzzy sets are chosen based on performance requirements and stability regions of the control system. For each fuzzy set, a sub-control is designed, b...

This paper presents an active fault tolerant control (FTC) strategy for induction motor drive that ensures trajectory tracking and offset the effect of the sensor faults despite the presence of load torque disturbance. The proposed approaches use a fuzzy descriptor observer to estimate simultaneously the system state and the sensor fault. The physical model of induction motor is approximated by...

position estimation system based on GPS, that uses a fuzzy sensor fusion technique. A fuzzy path tracking algorithm is also proposed. Both systems have been implemented in the ROMEO-4R vehicle developed at the University of Seville. ÃÃDIUSP9V88DPI Path tracking of autonomous vehicles consists in the generation of the steering commands for a vehicle to follow autonomously a given path taking int...

This paper addresses an adaptive fuzzy controller design for a class of nonlinear system. The nonlinear system is in the framework of strict-feedback form. The system funtions are unknown, and external disturbances meet the triangular bound assumption. Takagi-Sugeno (T-S) type fuzzy logic systems are used to approximate the uncertain nonlinear functions. The control objective is to steering the...