Abstract
In a practical nonlinear system, the actual model is hard to be described precisely by a mathematic model because of the presence of plant parameter variation, unmodeled dynamics and various disturbances appeared in the system. One of the advantages of using fuzzy control law is that it can control the system by using the rules of data obtained from expert’s knowledge without knowing exact model. However, this cause us difficult to predict the system closed-loop stability, especially for the system containing uncertainties. In this research, the adaptive-fuzzy scheme is used to estimate the uncertain fuzzy parameters so that the nonlinear elements containing plant uncertainties can more precisely be estimated and compensated in the proposed controller. To reduce the ill-effect of external disturbances, the H∞-control law is added to the proposed controller to squeeze the H∞norm of the closed-loop transfer function between the exogenous inputs and the controlled outputs. In this paper, the adaptive-fuzzy-H∞ composite controller is then proposed. Moreover, to speed up the convergence of tracking errors under plant uncertainties, the variable structure control law is joined to the proposed controller to form the proposed adaptive-fuzzy-H∞ composite control design. Finally, a robot manipulator is applied as an example to attest the feasibility of the proposed control methodology.
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