Stackelberg Game-Based Control Design for Fuzzy Underactuated Mechanical Systems With Inequality Constraints

A Stackelberg game-based design for an adaptive robust control for the fuzzy uncertain underactuated mechanical systems (UMSs) is proposed. The emphasis is on fuzzy-based uncertainty and inequality constraint. The uncertainty is time varying and bounded within a prescribed fuzzy set. For the inequality constraint, we creatively have it merge into constraint-following performance by a diffeomorphism technique. An adaptive robust control strategy is then proposed. Deterministic performance is guaranteed provided the control design parameters are within feasible regions. To further enhance the performance, we introduce a two-player Stackelberg game setting. The optimal choice of design parameters can be solved. The feasibility of this design is demonstrated on an autonomous wheeled mobile robot (AWMR), which is confined in a bounded space.