ADAPTIVE FUZZY STATE OBSERVER BASED ROBUST CONTROLLER FOR A ROBOTIC SYSTEM

Abstract

In this paper we propose to develop an adaptive type-2 fuzzy robust controller with a stat observer to control a robotic system. For this, we the approximate the system with two type-2 fuzzy systems. To overcome the problem of the state measures, we propose a state observer allowing to converge quickly to the real values and hence guarantees the stability of the closed loop system. The robustness of the closed loop system is ensured by using a modified sliding mode control, where the chattering phenomenon are removed. Simulation results are given to show the efficiency of the proposed approach.