Title :
Robust Adaptive Fuzzy Control for a Class of Nonlinear Systems
Author :
Wang, Yongfu ; Zhao, Hong ; Liu, Jiren ; Chai, Tianyou
Author_Institution :
Res. of Software, Northeastern Univ., Shenyang
Abstract :
A stable adaptive fuzzy control method is proposed for multiple-input multiple-output uncertain nonlinear systems. The adaptive law utilizes two types of errors in the adaptive fuzzy systems, the tracking error and approximation error. This control law is applied to a two link robot manipulator, and simulation results show its validity
Keywords :
MIMO systems; adaptive control; fuzzy control; nonlinear control systems; robust control; approximation error; multiple-input multiple-output uncertain nonlinear systems; robust adaptive fuzzy control; stable adaptive fuzzy control; tracking error; two link robot manipulator; Adaptive control; Adaptive systems; Approximation error; Fuzzy control; Fuzzy systems; MIMO; Nonlinear systems; Programmable control; Robots; Robust control; approximation error; fuzzy identification; robust adaptive; tracking error;
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
DOI :
10.1109/WCICA.2006.1713103
