Type-2 Fuzzy Logic in Control of Nonsmooth Systems

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.