Observer-based Adaptive fuzzy control of time-delay uncertain nonlinear systems
Reza Shahnazi, Naser Pariz, Ali Vahidian Kamyad · Asian Journal of Control · 2010
An observer-based adaptive fuzzy model following controller is proposed for a class of MIMO nonlinear uncertain systems to cope with time-delay, uncertainty in plant structure and disturbances. Based on universal approximation theorem the unknown nonlinear functions are approximated by fuzzy systems, where the premise and the consequent parts of the fuzzy rules are tuned with adaptive schemes. To have more robustness, and at the same time to alleviate chattering, an adaptive discontinuous structure is suggested. Moreover, the availability of the states measurement is not required and an adaptive observer is used to estimate the states. Asymptoic stability of the overall system is ensured using suitable a Lyapunov-Krasovskii functional candidate. Copyright © 2010 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society