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Journal Articles Control and Intelligent Systems Year : 2006

An improved robust adaptive fuzzy controller for MIMO systems

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Abstract

This paper addresses robust fuzzy adaptive control for nonlinear multi-input multi-output systems in the presence of parametric uncertainties and external disturbances. A universal approximator is used to approximate the plant model. The boundedness of the variables involved and convergence towards zero of the tracking error are guaranteed by a supervisory control. The effect of both the approximation errors and the external disturbances is attenuated to a prescribed level via an H∞ supervisor. Sufficient conditions are derived for robust stabilization in the sense of Lyapunov asymptotic stability. The effectiveness of the proposed controller design methodology is demonstrated by numerical simulations of a two-link robot.
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Dates and versions

hal-03298768 , version 1 (24-07-2021)

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  • HAL Id : hal-03298768 , version 1

Cite

Najib Essounbouli, Abdelaziz Hamzaoui, J. Zaytoon. An improved robust adaptive fuzzy controller for MIMO systems. Control and Intelligent Systems, 2006, 34 (1). ⟨hal-03298768⟩
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