Adaptive Neural-Fuzzy Control of Uncertain Nonholonomic Systems
| Authors: | Wang Zhuping, National University of Singapore, Singapore
Ge S. S., National University of Singapore, Singapore
Lee T. H., National University of Singapore, Singapore |
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| Topic: | 3.2 Cognition and Control ( AI, Fuzzy, Neuro, Evolut.Comp.) |
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| Session: | Adaptive Neuro-fuzzy Control |
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| Keywords: | Adaptive control, Neural-fuzzy, Nonholonomic, Constrained systems |
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Abstract
An adaptive neural-fuzzy controller is presented in this paper formechanical systems with nonholonomic constraints in the presenceof uncertainties about plant parameters. The controller isdesigned based on a reduced model. The neural-fuzzy (NF)controller is constructed in order to eliminate the need fordynamic modeling and error prone process in obtaining theregressor matrix. The proposed controller guarantees that thesystem motion asymptotically converges to the desired manifold.Numerical simulation are conducted to verify the effectiveness ofthe proposed method.
