Observer-based fuzzy adaptive control for strict-feedback nonlinear systems
Fuzzy Sets and Systems
Dynamic structure adaptive neural fuzzy control for MIMO uncertain nonlinear systems
Information Sciences: an International Journal
Fuzzy adaptive observer backstepping control for MIMO nonlinear systems
Fuzzy Sets and Systems
A combined backstepping and small-gain approach to robust adaptive fuzzy output feedback control
IEEE Transactions on Fuzzy Systems
A novel LMI based swing-up robust controller for a serial double inverted pendulum
ROBIO'09 Proceedings of the 2009 international conference on Robotics and biomimetics
Derivative and integral terminal sliding mode control for a class of MIMO nonlinear systems
Automatica (Journal of IFAC)
Information Sciences: an International Journal
Fuzzy Control of a Helio-Crane
Journal of Intelligent and Robotic Systems
Adaptive fuzzy control for differentially flat MIMO nonlinear dynamical systems
Integrated Computer-Aided Engineering
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This paper proposes a mixed feedforward/feedback (FFB) based adaptive fuzzy controller design for a class of multiple-input-multiple-output (MIMO) uncertain nonlinear systems. By integrating both feedforward and feedback compensation, we introduce the FFB-based fuzzy controller composed of a feedforward fuzzy compensator and a robust error-feedback compensator. To achieve a forward compensation of uncertainties, the feedforward fuzzy compensator takes the desired commands as premise variables of fuzzy rules and adaptively adjusts the consequent part from an error measure. Meanwhile, the feedback controller part is constructed based on Hinfin control techniques and nonlinear damping design. Then, the attenuation of both disturbances and estimated fuzzy parametric errors is guaranteed from a linear matrix inequality (LMI)-based gain design. The main advantages are: i) a simpler architecture for implementation is provided; and ii) the typical boundedness of assumption on fuzzy universal approximation errors is not required. Finally, an inverted pendulum system and a two-link robot are taken as application examples to show the expected performance