An Intelligent Adaptive Controller

In this work a controller scheme is applied to a class of nonlinear systems in the form x = f (x)+g(x)u. In this method fuzzy estimators are used to estimate the function f(x) and g(x). The fuzzy system is a zero-order Takagi-Sugeno-Kang structure. The methology guarantees that the fuzzy estimates f (x|thetascirc f ) and g(x|thetascirc g ) converge to their optimal value f(x|thetas f *) and g(x|thetas g *). The method is applied to an omnidirectional robot for practical results.