ADAPTIVE FUZZY TRACKING CONTROL FOR UNKNOWN NONLINEAR SYSTEMS

In this paper, an adaptive fuzzy controller (A PC) for a certain class of unknown nonlinear systems is proposed. The proposed approach employs a fuzzy system to approximate the unknown functions in designing the adaptive controller and an observer is designed to generate an error signal for the adaptive law. The free parameters of the AFC can be tuned on line based on the Lyapunov synthesis approach. The overall adaptive scheme guarantees the global stability of the resulting closed-loop system in the sense that all signals involved are uniformly and ultimately bounded. The design methodology is illustrated by application to the problem of balancing of an inverted pendulum on a cart.