AN IMPROVED ROBUST ADAPTIVE FUZZY CONTROLLER FOR MIMO SYSTEMS
N. Essounbouli, A. Hamzaoui, and J. Zaytoon
Keywords
Adaptive fuzzy control, H∞ tracking, algebraic Riccati equation,uncertain systems, nonlinear systems
Abstract
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∞ 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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