Type-2 Fuzzy Logic in Control of Nonsmooth Systems

Theoretical Concepts and Applications

  • Oscar Castillo
  • Luis T. Aguilar

Part of the Studies in Fuzziness and Soft Computing book series (STUDFUZZ, volume 373)

Table of contents

  1. Front Matter
    Pages i-xi
  2. Introduction

    1. Front Matter
      Pages 1-3
    2. Oscar Castillo, Luis T. Aguilar
      Pages 5-19
  3. Genetic Algorithms

    1. Front Matter
      Pages 21-21
    2. Oscar Castillo, Luis T. Aguilar
      Pages 23-39
  4. Applications

    1. Front Matter
      Pages 41-41
    2. Oscar Castillo, Luis T. Aguilar
      Pages 43-54
    3. Oscar Castillo, Luis T. Aguilar
      Pages 55-71
    4. Oscar Castillo, Luis T. Aguilar
      Pages 73-83
    5. Oscar Castillo, Luis T. Aguilar
      Pages 85-96
    6. Oscar Castillo, Luis T. Aguilar
      Pages 97-120
  5. Back Matter
    Pages 121-122

About this book


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.


Design of Fuzzy Controllers Nonsmooth Lyapunov Functions Mechanical Systems With Coulomb Friction Stabilization of Electromechanical Systems Stability Analysis of Fuzzy Control Systems Lyapunov Stability Analysis Control of Wheeled Mobile Robots Biped Robot Model Mamdani-type Fuzzy Logic Control Stability Analysis of DC Motors Stability of Closed-loop Systems Velocity Fuzzy Control Systems Genetic Optimization Parallel Genetic Algorithms

Authors and affiliations

  • Oscar Castillo
    • 1
  • Luis T. Aguilar
    • 2
  1. 1.Division of Graduate Studies and ResearchTijuana Institute of TechnologyTijuanaMexico
  2. 2.Centro de Investigación y Desarrollo de Tecnología DigitalInstituto Politécnico NacionalTijuanaMexico

Bibliographic information

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