Type-2 Fuzzy Logic in Control of Nonsmooth Systems: Theoretical Concepts and Applications (Studies in Fuzziness and Soft Computing, 373)

"This book presents the synthesis and analysis of fuzzy controllers and its application to a class of mechanical systems. It mainly focuses on the use of type-2 fuzzy controllers to account for disturbances known as hard or nonsmooth nonlinearities. The book, which summarizes the authors' research on type-2 fuzzy logic and control of mechanical systems, presents models, simulation and experiments towards the control of servomotors with dead-zone and Coulomb friction, and the control of both wheeled mobile robots and a biped robot. Closed-loop systems are analyzed in the framework of smooth and nonsmooth Lyapunov functions." -- prové de l'editor. Front Matter ....Pages i-xi Front Matter ....Pages 1-3 Background on Type-1 and Type-2 Fuzzy Logic (Oscar Castillo, Luis T. Aguilar)....Pages 5-19 Front Matter ....Pages 21-21 Genetic Algorithms (Oscar Castillo, Luis T. Aguilar)....Pages 23-39 Front Matter ....Pages 41-41 Fuzzy Lyapunov Synthesis for Nonsmooth Mechanical Systems (Oscar Castillo, Luis T. Aguilar)....Pages 43-54 Fuzzy Control for Systems with Dead-Zone and Backlash (Oscar Castillo, Luis T. Aguilar)....Pages 55-71 Fuzzy Control Synthesis for Systems with Discontinuous Friction (Oscar Castillo, Luis T. Aguilar)....Pages 73-83 Fuzzy Control for Wheeled Mobile Robots (Oscar Castillo, Luis T. Aguilar)....Pages 85-96 Fuzzy Control for Biped Robots Under Impacts (Oscar Castillo, Luis T. Aguilar)....Pages 97-120 Back Matter ....Pages 121-122