Design of fuzzy adaptive robust control algorithm via small gain approach

A new fuzzy adaptive robust control algorithm is presented for a class of uncertain nonlinear systems by use of the small gain approach and dissipative system theory. In the algorithm, Takagi-Sugeno type fuzzy logic systems are employed to approximate unknown functions in the systems and the adaptive mechanism with minimal learning parameterizations can be achieved. An example illustrating the method described is included for ship roll stabilization by a fin control system. We confirm that the designed system guarantees the performance of global asymptotic stability