Robust adaptive fuzzy tracking control for a class of MIMO systems : A minimal-learning-parameters algorithm

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review

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Author(s)

Detail(s)

Original languageEnglish
Title of host publicationProceedings of the American Control Conference
Pages3106-3111
Publication statusPublished - 2009

Publication series

Name
ISSN (Print)0743-1619

Conference

Title2009 American Control Conference, ACC 2009
PlaceUnited States
CitySt. Louis, MO
Period10 - 12 June 2009

Abstract

A robust adaptive fuzzy tracking control problem is discussed for a class of uncertain MIMO nonlinear systems with strongly coupled interconnections. T-S fuzzy systems are used to approximate the unknown system uncertainties. Combining "dynamic surface control(DSC)"approach with "minimal learning parameters(MLP)" algorithm, a systematic procedure for controller design is developed. The key features of the proposed scheme are that, firstly, the problem of "explosion of complexity" inherent in the conventional backstepping method is circumvented, secondly, the number of parameters updated on line for each subsystem is reduced dramatically to 2, one for T-S fuzzy system and the other for the bound of disturbances, and, thirdly, the possible controller singularity problem in some of the existing adaptive control schemes with feedback linearization techniques is removed. These features result in a much simpler algorithm, which is easy to be implemented in application. It is shown that all the closed-loop signals are semi-globally uniformly ultimately bounded(SGUUB) based on Lyapunov theory. Finally, simulation results via a numerical example validate the effectiveness and performance of the proposed scheme. © 2009 AACC.

Citation Format(s)

Robust adaptive fuzzy tracking control for a class of MIMO systems: A minimal-learning-parameters algorithm. / Li, Tieshan; Feng, Gang; Zou, Zaojian et al.
Proceedings of the American Control Conference. 2009. p. 3106-3111 5159846.

Research output: Chapters, Conference Papers, Creative and Literary WorksRGC 32 - Refereed conference paper (with host publication)peer-review