Adaptive fuzzy control of a class of MIMO nonlinear systems.pdfVIP

Fuzzy Sets and Systems 151 2005 59–77 /locate/fss Adaptive fuzzy control of a class of MIMO nonlinear systems a ,? b c Salim Labiod , Mohamed Seghir Boucherit , Thierry Marie Guerra aLAMEL, Faculty of Engineering Sciences, University of Jijel, BP. 98, Oule dAissa, 18000, Jijel, Algeria bLCP, Department of Electrical Engineering, Ecole Nationale Polytechnique, 10, Ave Hassen Badi, BP. 182, El Harrach, Algiers, Algeria cLAMIH, UMR CNRS 8530, Université de Valenciennes et du Hainaut-Cambrésis, Le Mont Houy, 59313 Valenciennes cedex 9 France Received 13 February 2004; received in revised form 22 July 2004; accepted 21 October 2004 Available online 10 November 2004 Abstract This paper presents two indirect adaptive fuzzy control schemes for a class of uncertain continuous-time multi- input multi-output nonlinear dynamic systems. Within these schemes, fuzzy systems are employed to approximate the plant’s unknown nonlinear functions and robustifying control terms are used to compensate for approximation errors. By using a regularized matrix inverse, a stable well-de?ned adaptive controller is ?rstly investigated. Then, in order to obtain an adaptive controller not depending upon any parameter initialization conditions and to relax the requirement of bounding parameter values, a second adaptive controller is proposed.All parameter adaptive laws and robustifying control terms are derived based on Lyapunov stability analysis so that, under appropriate assumptions, semi-global stability and asymptotic convergence to zero of tracking errors can be guaranteed. Simulations performed on a two-link robot manipulator illustrate the approach and exhibit its performance. ? 2004 Elsevier B.V. All rights reserved. Keywords: Fuzzy systems; Fuzzy control; Adaptive control; MIMO nonlinear systems 1. Introduction Controllers design for nonlinear systems has been given a lot of attention in the control community during the last two decades. The introduction of geometric tec