Fuzzy adaptive controller for MIMO nonlinear systems with known and unknown control direction

  • Authors:

  • A. Boulkroune;M. Tadjine;M. M'Saad;M. Farza

  • Affiliations:

  • Department of Automatic, University of Jijel, Jijel 18000, Algeria;LCP, Department of the Electrical Engineering, ENP, El-Harrach, 16000, Algiers, Algeria;GREYC, UMR 6072 CNRS, Université de Caen, ENSICAEN, 6 Bd Maréchal Juin, 14050 Caen Cedex, France;GREYC, UMR 6072 CNRS, Université de Caen, ENSICAEN, 6 Bd Maréchal Juin, 14050 Caen Cedex, France

  • Venue:
  • Fuzzy Sets and Systems
  • Year:
  • 2010

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Abstract

This paper investigates fuzzy adaptive control schemes for a class of multi-input multi-output (MIMO) unknown nonlinear systems with known and unknown sign of the control gain matrix. Three fuzzy adaptive control schemes are developed. In the design of the second and third controller, we will exploit a decomposition of the control gain matrix into a symmetric positive-definite matrix, a diagonal matrix with diagonal entries +1 or -1 and a unity upper triangular matrix. The Nussbaum-type function is used to deal with the unknown control direction (i.e. the unknown sign of the control gain matrix). For updating the parameters of the fuzzy system, an adaptation proportional-integral (PI) law is proposed. Theoretical results are illustrated through two simulation examples.