FUZZY LOGIC BASED ADAPTIVE CONTROL FOR MIMO NONLINEAR SYSTEMS
Yan Cai-mei · Journal of Yangzhou University · 2002
A new scheme of decentralized adaptive fuzzy controller for a class of MIMO uncertain nonlinear systems with function control gains is proposed in this paper. The design is based on a modified Lyapunov function and the approximation capability of the second type fuzzy systems. The approach is able to avoid the requirement of the upper bound of the first time derivative of the control gain, which is assumed to know a priori in some of the existing adaptive fuzzy/neural network control schemes. In addtion, it is also able to avoid the controller singularity problem. By theoretical analysis, the closed-loop control system is proven to be globally stable in the sense that all signals involved are bounded, with tracking errors converging to zero. The simulation results are given to demonstrate the effectiveness of the approach.