DocumentCode :
2733470
Title :
T-S Model Based Indirect Adaptive Fuzzy Control for a Class of MIMO Uncertain Nonlinear Systems
Author :
Qi, Ruiyun ; Brdys, Mietek A.
Author_Institution :
Dept. of Electron. Electr. & Comput. Eng., Birmingham Univ.
Volume :
1
fYear :
0
fDate :
0-0 0
Firstpage :
3943
Lastpage :
3947
Abstract :
This paper presents a Takagi-Sugeno (T-S) fuzzy model based indirect adaptive control algorithm for a class of uncertain multiple-input-multiple-output (MIMO) nonlinear systems. The T-S model consisting of a set of affine fuzzy local models is used to model a nonlinear uncertain system. Local integral controllers are designed based on local affine fuzzy models corresponding to different operating points of the controlled nonlinear system. Local controllers are combined to generate an overall controller by using fuzzy weighted integration. The T-S fuzzy model is adaptive both in its structure and parameters. The structure of the T-S model varies when the nonlinear system moves to different operating regions and the membership and consequent parameters are updated online in the presence of external disturbances and parameter perturbations. Simulation results on tracking control of a two-link robot manipulator are given to illustrate the effectiveness of the proposed method
Keywords :
MIMO systems; adaptive control; control system synthesis; fuzzy control; fuzzy systems; nonlinear control systems; MIMO uncertain nonlinear systems; Takagi-Sugeno model; fuzzy control; fuzzy local model; fuzzy weighted integration; indirect adaptive control; local affine fuzzy model; local integral controller design; multiple-input-multiple-output nonlinear systems; Adaptive control; Control system synthesis; Fuzzy control; Fuzzy sets; Fuzzy systems; MIMO; Nonlinear control systems; Nonlinear systems; Programmable control; Takagi-Sugeno model; Indirect adaptive control; Takagi-Sugeno (T-S) models; fuzzy control; fuzzy local model; robot manipulator;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Control and Automation, 2006. WCICA 2006. The Sixth World Congress on
Conference_Location :
Dalian
Print_ISBN :
1-4244-0332-4
Type :
conf
DOI :
10.1109/WCICA.2006.1713112
Filename :
1713112
Link To Document :
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