Tracking control design based on symbolic fuzzy switching for nonlinear systems

In this work we interest to nonlinear systems tracking control using a multiple model approach based on a switching procedure. Two switching techniques based control schemes are considered: by "select" or by "weighted combination". The main difference consists to the way that the global control law, applied to the system, is computed. The switched control law by "select" consists to the selection of one controller in each instant according to a selection criterion. However, the switched control by "weighted combination" is computed based on a symbolic fuzzy switching. The simulation results on a wrist of Staubli Robot shows the good performances of the two switched control schemes and the improvement offered by the symbolic fuzzy system in term of reject of abruptly switching effects on the global control law.