Stable indirect fuzzy adaptive control
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Date
2003
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Publisher
Elsevier
Abstract
This paper investigates new fuzzy model-based observer adaptive control for multi-input multi-output
continuous-time nonlinear systems. The proposed adaptive scheme uses Takagi–Seguno (TS) fuzzy models to
estimate the plant states and dynamics. Using stability arguments, it is shown that the proposed scheme is
globally asymptotically stable. The observation and tracking errors are shown to converge asymptotically to
zero, despite the presence ofexternal disturbances and approximation errors. The performance ofthe developed
approach is illustrated, by simulation, on two-link robot model.
Description
Keywords
Fuzzy control, Fuzzy systems model, Adaptive control, Observer, Nonlinear systems