Stable direct adaptive fuzzy control for a class of MIMO non-linear systems
In this paper two direct adaptive fuzzy control schemes have been presented for a class of MIMO nonlinear systems with unknown constant control gains or unknown function control gains. The design is based on a modified Lyapunov function and the approximation capability of the first type fuzzy system. The approach is able to avoid the requirement of the upper bound of the first-time derivative of the control gain, which is assumed known a priori in some of the existing adaptive fuzzy/neural network control schemes. In addition, it is also able to avoid the controller singularity problem. The developed controllers can guarantee the global stability of the resulting closed-loop fuzzy system in the sense that all signals involved are uniformly bounded and the tracking errors are converging asymptotically to zero. Since decentralized adaptive compensators are introduced in the controller, the approximation errors are not necessarily small in the scheme. The theoretical analysis and the simulation results show that the proposed method is very effective in controlling nonlinear systems.
- Stable adaptive fuzzy control for MIMO nonlinear systems
- Adaptive fuzzy control of a class of MIMO nonlinear systems
- Direct adaptive fuzzy control of a class of MIMO non-affine nonlinear systems
- scientific article; zbMATH DE number 5005716
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