Observer-based Robust Adaptive Fuzzy Control for Nonlinear Systems

Abstract

A robust adaptive fuzzy output control scheme for a class of nonlinear system with uncertainty is proposed. The nonlinear system is treated as a partially known system and its all states are not available. A fuzzy basis function vector is introduced to learn the upper bound of the system uncertainty, and its output is used as the parameters of the robust controller. By designing an observer to estimate states, the robust adaptive fuzzy output feedback control scheme is realized. Based on Lyapunov stability theorem, the control system can guarantee that the tracking error converges in the small neighborhood of origin. The given simulation results confirm that the proposed control algorithms are feasible for practical application.