Title :
Adaptive fuzzy robust control for a class of MIMO nonlinear systems with prescribed performance
Author :
Jia, Tao ; Liu, Jun
Author_Institution :
Dept. of Autom., Xi´´an Univ. of Technol., Xi´´an, China
Abstract :
In this paper, an indirect adaptive fuzzy robust controller for a class of MIMO nonlinear systems with prescribed performance is proposed. The prescribed performance guarantees that the tracking error should converge to an arbitrarily small residual set. All adaptive laws and control terms are derived based on Lyapunov stability analysis so that, semi-global stability and boundedness property can be guaranteed. It is shown that the proposed schemes achieve prescribed transient and steady state behavioral bounds on the tracking errors. Finally, simulation results are presented to show the effectiveness of the proposed algorithm.
Keywords :
Lyapunov methods; MIMO systems; adaptive control; fuzzy control; nonlinear systems; performance index; robust control; Lyapunov stability analysis; MIMO nonlinear system; adaptive fuzzy robust control; boundedness property; residual set; semiglobal stability; steady state bound; tracking error; transient bound; Adaptive control; Control systems; Fuzzy control; Fuzzy systems; Lyapunov method; MIMO; Nonlinear control systems; Nonlinear systems; Programmable control; Robust control; MIMO nonlinear systems; fuzzy systems; prescribed performance; robust adaptive control;
Conference_Titel :
Computer Communication Control and Automation (3CA), 2010 International Symposium on
Conference_Location :
Tainan
Print_ISBN :
978-1-4244-5565-2
DOI :
10.1109/3CA.2010.5533738
