Stable indirect fuzzy adaptive control. (Q1398941)

This paper proposes a stable indirect fuzzy adaptive control for MIMO (multi-input multi-output) continuous-time nonlinear systems. A TS (Takagi-Sugeno) fuzzy model-based observer is developed to approximate the nonlinear plant dynamic and estimate its state variables. This adaptive scheme presents the advantages that qualitative and analytic information about the plant operating can be used to design the fuzzy model rules and few rules (i.e. parameters) are to be tuned, which allows fast control update. This is a limiting factor for some applications. The proposed adaptive scheme achieves asymptotic tracking of a stable reference model, and the tracking and observation errors are shown to converge asymptotically to zero. The performance of this approach is evaluated on a two-link robot model.