Abstract
A direct fuzzy model reference adaptive control is proposed in this paper. The designed controller employs direct feedback linearization, coupled with a pseudo control variable to linearize the nonlinear system. A fuzzy adaptive compensator based on universal approximation is designed to cancel the system pseudo error, disturbance and system interconnection. Furthermore, a dynamic compensator is designed to stabilize the system. The proposed algorithm is proved by Lyapunov stability theory to be asymptotically stable. Simulation results are given to demonstrate that the designed system has perfect tracking performance.
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