Fuzzy adaptive control of multivariable nonlinear systems1

✍ Scribed by Tong Shaocheng; Tang Jiantao; Wang Tao

• Publisher: Elsevier Science
• Year: 2000
• Tongue: English
• Weight: 220 KB
• Volume: 111
• Category: Article
• ISSN: 0165-0114
• DOI: 10.1016/s0165-0114(98)00052-9

✦ Synopsis

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 e ectiveness of the proposed algorithms.