Direct adaptive fuzzy tracking control with observer and supervisory controller for nonlinear MIMO time delay systems

This paper proposes a direct adaptive fuzzy H^∞ control with observer and supervisory controller for uncertain multiple-input multiple-output (MIMO) nonlinear dynamical systems. Since time delays and external disturbances probably are sources of unstable for the system, by combining H^∞ control theory and fuzzy control to make both fuzzy logic approximation error and external disturbance on the track error are attenuated to a prescribed level. Based on Lyaounov stability criterion, the parameters of the adaptive fuzzy controller can be tuned online by control law and adaptive law. Simulation results show that effectiveness and track performance are acceptable.