FUZZY SUBOPTIMAL FEEDBACK CONTROLLER

Abstract

The paper concerns the time-optimal control of objects described by a differential equation representing the second law of Newtonian mechanics and taking into account a discon- tinuous model of resistances to motion. Such a task has broad technical applications, especially in robotics. A fuzzy approach is used to design a suboptimal closed-loop con- trol structure, convenient in practice thanks to its many advantages, especially in respect to robustness.