Direct adaptive fuzzy control for nonlinear systems with supervisory control performance

A direct adaptive fuzzy control approach with supervisory control performance for a class of uncertain MIMO nonlinear systems is proposed. In this novel method, the proposed controllers consist of two parts: the direct fuzzy control term and the supervisory control term. Compared with the existing research results with respect to the adaptive fuzzy control of uncertain MIMO nonlinear systems, this novel method has the supervisory control performance, and then the adaptive fuzzy control theory is further developed. Based on the stability Lyapunov theory, it can be ensured that all signals in the closed-loop system are bounded, and the tracking errors converge to a small neighborhood around zero. Simulation results indicate the effectiveness of the proposed approach.