Abstract
The robust fuzzy adaptive control scheme is developed for a~class of unknown nonlinear MIMO systems. Two types of uncertainties are considered: i.e. the matched uncertainty and the unmatched uncertainties. In the control procedure, fuzzy logic systems are implemented to estimate the unknown functions and robust compensators are designed in H ∞ sense for attenuating the unmatched uncertainties. It is shown that the proposed control is continuous, guarantees global stability and the H ∞ performance index. Extensive simulations on the tracking control of a~two-link rigid robotics manipulator verify the effectiveness of the proposed algorithms.
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