Stable indirect fuzzy adaptive control

Authors:
N. Golea;A. Golea;K. Benmahammed
Affiliations:
Electrical Engineering Institute, Oum-El-Bouaghi University, Oum-El-Bouaghi, 04000 Algeria;Electrical Engineering Institute, Oum-El-Bouaghi University, Oum-El-Bouaghi, 04000 Algeria and Electrical Engineering Institute, Biskra University, 07000 Biskra, Algeria;Electronics Institute, Sétif University, 19000 Algeria
Venue:
Fuzzy Sets and Systems - Theme: Modeling and control
Year:
2003

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Abstract

This paper investigates new fuzzy model-based observer adaptive control for multi-input multi-output continuous-time nonlinear systems. The proposed adaptive scheme uses Takagi-Seguno (TS) fuzzy models to estimate the plant states and dynamics. Using stability arguments, it is shown that the proposed scheme is globally asymptotically stable. The observation and tracking errors are shown to converge asymptotically to zero, despite the presence of external disturbances and approximation errors. The performance of the developed approach is illustrated, by simulation, on two-link robot model.