This article presents a hybrid learning architecture for fuzzy control of quadruped walking robots in the RoboCup domain. It combines reactive behaviors with deliberative reasoning to achieve complex goals in uncertain and dynamic environments. To achieve real-time and robust control performance, fuzzy logic controllers (FLCs) are used to encode the behaviors and a two-stage learning scheme is ...

Aimed at the problems of low control accuracy and weak robustness influenced by external disturbance, friction, load changes, modeling errors and other issues in ammunition auto-loading robot control system, a new robust adaptive fuzzy sliding mode controller based on fuzzy compensation is proposed. The control architecture employs fuzzy systems to compensate adaptively for plant uncertainties ...

Abstract: This paper presents the robust stability analysis and design methodology of the fuzzy feedback linearization control systems. Uncertainty and disturbances with known bounds are assumed to be included in the Takagi-Sugeno (TS) fuzzy models representing the nonlinear plants. L2 robust stability of the closed system is analyzed by casting the systems into the diagonal norm bounded linear...

This study analyzes the absolute stability in P and PD type fuzzy logic control systems with both certain and uncertain linear plants. Stability analysis includes the reference input, actuator gain and interval plant parameters. For certain linear plants, the stability (i.e. the stable equilibriums of error) in P and PD types is analyzed with the Popov or linearization methods under various ref...

This paper presents a robust controller design for a Brush less DC motor by using Quantitative Feedback Theory [1] and its comparison with different control techniques. The different types of controller design techniques for a Brush Less DC motor involves (i) Fuzzy logic controller (ii)Genetic Algorithm based controller (iii)QFT Controller. The design of QFT controller involves preparation of p...

The problem of robust fuzzy control for a class of nonlinear fuzzy impulsive singular perturbed systems with time-varying delay is investigated by employing Lyapunov functions. The nonlinear delay system is built based on the well-known T–S fuzzy model. The so-called parallel distributed compensation idea is employed to design the state feedback controller. Sufficient conditions for global expo...