AN IMPROVED ROBUST ADAPTIVE FUZZY CONTROLLER FOR MIMO SYSTEMS

被引：0
|
作者：
Essounbouli, N.
Hamzaoui, A.
Zaytoon, J.
机构：
来源：
CONTROL AND INTELLIGENT SYSTEMS | 2006年 / 34卷 / 01期
关键词：
Adaptive fuzzy control; H infinity tracking; algebraic Riccati equation; uncertain systems; nonlinear systems;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper addresses robust fuzzy adaptive control for nonlinear multi-input multi-output systems in the presence of parametric un-certainties and external disturbances. A universal approximator is used to approximate the plant model. The boundedness of the variables involved and convergence towards zero of the tracking error are guaranteed by a supervisory control. The effect of both the approximation errors and the external disturbances is attenuated to a prescribed level via an H infinity supervisor. Suffcient conditions are derived for robust stabilization in the sense of Lyapunov asymp-totic stability. The effectiveness of the proposed controller design methodology is demonstrated by numerical simulations of a two-link robot.
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