A Design of Stochastic Fuzzy Controller as a Linear Min-Max Control

摘要

A gain design method of a stochastic fuzzy controller is described by using a linear min-max control law in discrete-time. It is shown that the stochastic fuzzy control system using such a design method can assure an asymptotic stability to within some tolerance, instead of assuring an ideally asymptotic stability about zero, as along as satisfying the so-called matching condition for the uncertainties. The effectiveness of the proposed method is illustrated by giving some simulations for the trajectory tracking control problem of a mobile robot with two independent driving wheels, in which the mobile robot is assumed to have completely unknown parameters.