Title :
Robust composite adaptive fuzzy identification and control for a class of MIMO nonlinear systems
Author :
Kim, D. ; Chung, H. ; Bhasin, S. ; Dixon, W.E.
Author_Institution :
Dept. of Mech. & Aerosp. Eng., Univ. of Florida, Gainesville, FL, USA
fDate :
June 29 2011-July 1 2011
Abstract :
A robust adaptive fuzzy identification and trajectory tracking control approach is developed for a class of multi-input-multi-output (MIMO) nonlinear systems in the presense of unmodeled uncertainties, parametric uncertainties, and external disturbances. A sliding mode-based fuzzy model identification/observer method is used to provide additional feedback of the unknown system dynamics. The model identification error is used along with the tracking error as a composite adaptive update law for a fuzzy logic based feedforward term. The fuzzy logic feedforward term is used in conjunction with a recently developed robust integral of the sign of the error (RISE) feedback method to yield a continuous controller that achieves semi-global asymptotic trajectory tracking.
Keywords :
MIMO systems; adaptive control; feedback; feedforward; fuzzy control; nonlinear control systems; observers; robust control; MIMO nonlinear systems; RISE feedback method; composite adaptive update law; fuzzy logic based feedforward term; model identification error; multiple input multiple output systems; observer method; robust composite adaptive fuzzy control; robust composite adaptive fuzzy identification; robust-integral-of-the-sign-of-the-error; semiglobal asymptotic trajectory tracking; Adaptive systems; Approximation error; Fuzzy logic; Robustness; Stability analysis; Trajectory; Uncertainty;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5991419
