Fuzzy adaptive control of multivariable nonlinear systems
type: Item
instance of: scholarly article
title: Fuzzy adaptive control of multivariable nonlinear systems
zbMATH Open document ID: 0976.93049
DOI: 10.1016/S0165-0114(98)00052-9
author: Jiantao Tang
author: Tao Wang
author: Shaocheng Tong
published in: Fuzzy Sets and Systems
publication date: 2000-04-27T00:00:00Z
review text: The authors develop a robust fuzzy adaptive control scheme for a class of unknown nonlinear MIMO systems. The uncertainties are divided into two parts: A first type can be viewed as matched uncertainties, which are modeled by fuzzy systems and the design of fuzzy equivalence control. The second type can be treated as the unmatched uncertainties including modeling errors (fuzzy system approximation errors) and disturbances, etc., which cannot be modeled by fuzzy systems. Since the unmatched uncertainties may act as combined disturbance, it can lead to unstability of the closed-loop system, so a robust compensator is designed by the \(H^\infty\) control technique to reject this kind of uncertainties. The whole adaptive control scheme not only guarantees uniform ultimate boundedness, but also makes the worst case effect on the tracking error due to the unmatched uncertainties to be less than or equal to a desired attenuation level. Extensive simulations on the tracking control of a two-link rigid robotics manipulator verify the effectiveness of the proposed algorithms.
Mathematics Subject Classification ID: 93C42
Mathematics Subject Classification ID: 93C40
Mathematics Subject Classification ID: 93B36
Mathematics Subject Classification ID: 93C73
zbMATH DE Number: 1436993
zbMATH Keywords: robust fuzzy adaptive control
zbMATH Keywords: nonlinear MIMO systems
zbMATH Keywords: \(H^\infty\) control
zbMATH Keywords: uniform ultimate boundedness
zbMATH Keywords: tracking
zbMATH Keywords: unmatched uncertainties
reviewed by: George S. Stavrakakis
MaRDI profile type: MaRDI publication profile
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full work available at URL: s0165-0114(98)00052-9
OpenAlex ID: W1555701677
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description: scientific article; zbMATH DE number 1436993