Indirect adaptive fuzzy robust control for a class of nonlinear MIMO systems

The adaptive fuzzy robust control scheme is proposed by applying "dominant input" concept for a class of unknown nonlinear MIMO systems in this paper The scheme combines adaptive control with H-infinity control and fuzzy logic approximation method It is shown that the proposed scheme guarantees the closed - loop system is globally stable and achieves H-infinity tracking performance index, and the influence of external disturbances and fuzzy logic approximation errors and the cross - coupling of inputs to outputs on the tracking error is attenuated to a prescribed level. Comparing with the design method proposed in [3], the scheme reduces the complexity of the closed - loop system, and simplify the design, and is convenient for engineering application.