Robust direct adaptive fuzzy control for nonlinear MIMO systems

Abstract

Abstract For a class of nonlinear multi-input multi-output systems with uncertainty, a robust direct adaptive fuzzy control scheme was proposed. The feedback control law and adaptive law for parameters were derived based on Lyapunov design approach. The overall control scheme can guarantee that the tracking error converges in the small neighborhood of origin, and all signals of the closed-loop system are uniformly bounded. The main advantage of the proposed control scheme is that in each subsystem only one parameter vector needs to be adjusted on-line in the adaptive mechanism, and so the on-line computing burden is reduced. In addition, the proposed control scheme is a smooth control with no chattering phenomena. A simulation example was proposed to demonstrate the effectiveness of the proposed control algorithm. * Supported by National Natural Science Foundation of China (Grant Nos. 60325311, 6053010, 60521003) and Program for Changjiang Scholars and Innovative Research Team in University (Grant No. IRT...