Abstract
In this paper, a direct fuzzy adaptive control scheme for a class of uncertain continuous-time nonlinear multi-input multi-output dynamic systems is proposed. Within this scheme, the fuzzy systems are implemented to generate directly the control input signals without dynamic system estimation. In this approach, the fuzzy system parameters are updated by using a proportional-plus-integral adaptive law. It is proved that the proposed adaptive scheme guarantees the boundedness of all signals in the closed-loop system. Simulations performed on a two-link robot manipulator illustrate the approach and exhibit its performances.
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