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Improved observer-based adaptive fuzzy tracking control for MIMO nonlinear systems | IEEE Conference Publication | IEEE Xplore

Improved observer-based adaptive fuzzy tracking control for MIMO nonlinear systems


Abstract:

In this paper, a stable observer-based adaptive fuzzy controller which combines a sliding mode and an adaptive Proportional Integral (PI) controllers is developed for a c...Show More

Abstract:

In this paper, a stable observer-based adaptive fuzzy controller which combines a sliding mode and an adaptive Proportional Integral (PI) controllers is developed for a class of nonlinear Multiple Input Multiple Output (MIMO) systems with unknown parameters and in presence of external disturbances. The free parameters of the adaptive fuzzy controller are tuned on-line based on the Lyapunov approach. The overall adaptive fuzzy scheme guarantees the uniform ultimate boundedness of all the closed-loop signals as well as the tracking errors. The validity of the proposed approach is shown by computer simulations of a two-link robotic manipulator.
Date of Conference: 20-24 August 2009
Date Added to IEEE Xplore: 02 October 2009
ISBN Information:
Print ISSN: 1098-7584
Conference Location: Jeju, Korea (South)

References

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