Robust adaptive fuzzy control and its application to ship roll stabilization (Q1857066)

The authors propose a robust adaptive fuzzy control scheme for a class of uncertain nonlinear systems which is applied to the problem of ship roll stabilization. A fuzzy system was constructed to approximate the uncertain function and then this function was used as an upper bound function for the uncertainty. The nature of the proposed control schemes is that the robust relative degree is equal to the system's degree and only one parameter needs to be adapted, so the computational load can be significantly reduced. A state-feedback robust adaptive fuzzy control scheme that guarantees the closed-loop system to converge exponentially with prescribed degree towards a residual ball around the equilibrium position is obtained by using the Lyapunov direct method.