HAL will be down for maintenance from Friday, June 10 at 4pm through Monday, June 13 at 9am. More information
Skip to Main content Skip to Navigation
Journal articles

An improved robust adaptive fuzzy controller for MIMO systems

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.
Complete list of metadata

Contributor : Najib Essounbouli Connect in order to contact the contributor
Submitted on : Saturday, July 24, 2021 - 2:20:29 AM
Last modification on : Thursday, October 14, 2021 - 1:10:07 PM


  • HAL Id : hal-03298768, version 1



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



Record views