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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.
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https://hal.univ-reims.fr/hal-03298768
Contributor : Najib Essounbouli <>
Submitted on : Saturday, July 24, 2021 - 2:20:29 AM
Last modification on : Saturday, July 24, 2021 - 3:41:09 AM

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  • HAL Id : hal-03298768, version 1

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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⟩

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