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A new robust adaptive control of a class of MIMO nonlinear systems with fuzzy approximators

Tlemcani A., Chekireb H., Boucherit M. S.

Archives of Control Sciences

2006

Vol. 16, no. 3

341-358

Based on the Lyapunov synthesis approach, several adaptive fuzzy control schemes have been developed during the last few years. In this paper we develop a robust adaptive fuzzy control law for MIMO nonlinear system class. The proposed method uses the Sugeno-Takagi fuzzy system as an universal approximator of continuous nonlinear functions. The adaptive controllaw is established based on the Lyapunov method. So, the output convergence, the boundedness of the parameters and the ststes are derived. Moreover, the fuzzy adaptive law incorporates a compensatory sliding term, which compensates for effects of the unavoidable reconstruction errors.