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Robust tracking designs for both holonomic and nonholonomic constrained mechanical systems: adaptive fuzzy approach
2000
IEEE transactions on fuzzy systems
Adaptive fuzzy-based tracking control designs will be proposed in this paper for both holonomic mechanical systems as well as a large class of nonholonomic mechanical systems with plant uncertainties and external disturbances. A unified and systematic procedure is employed to derive the controllers for both holonomic and nonholonomic mechanical control systems, respectively. First, a fuzzy logic system is introduced to learn the behavior of unknown (or uncertain) mechanical dynamics by using an
doi:10.1109/91.824768
fatcat:abzsqdlkdnawbany63pgzg3bdi