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Zbl 1142.93365
Labiod, Salim; Boucherit, Mohamed Seghir; Guerra, Thierry Marie
Adaptive fuzzy control of a class of MIMO nonlinear systems. (English)
[J] Fuzzy Sets Syst. 151, No. 1, 59-77 (2005). ISSN 0165-0114

Summary: This paper presents two indirect adaptive fuzzy control schemes for a class of uncertain continuous-time multi-input multi-output nonlinear dynamic systems. Within these schemes, fuzzy systems are employed to approximate the plant's unknown nonlinear functions and robustifying control terms are used to compensate for approximation errors. By using a regularized matrix inverse, a stable well-defined adaptive controller is firstly investigated. Then, in order to obtain an adaptive controller not depending upon any parameter initialization conditions and to relax the requirement of bounding parameter values, a second adaptive controller is proposed. All parameter adaptive laws and robustifying control terms are derived based on Lyapunov stability analysis so that, under appropriate assumptions, semi-global stability and asymptotic convergence to zero of tracking errors can be guaranteed. Simulations performed on a two-link robot manipulator illustrate the approach and exhibit its performance.

MSC 2000:: *93C42 Fuzzy control
93C40 Adaptive control systems

Keywords: Fuzzy systems; Fuzzy control; Adaptive control; MIMO nonlinear systems

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