<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In this paper an adaptive fuzzy H∞ robust tracking control scheme is developed for a class of uncertain nonlinear Multi-Input and Multi-Output (MIMO) systems. Firstly, fuzzy logic systems are introduced to approximate the unknown nonlinear function of the system by an adaptive algorithm. Next, a H∞ robust compensator controller is employed to eliminate the effect of the approximation error and external disturbances. Consequently, a fuzzy adaptive robust controller is proposed, such that the tracking error of the resulting closed-loop system converges to zero and the tracking robustness performance can be guaranteed. The simulation results performed on a two-link robotic manipulator demonstrate the validity of the proposed control scheme.</p></abstract>

In this paper an adaptive fuzzy H∞ robust tracking control scheme is developed for a class of uncertain nonlinear Multi-Input and Multi-Output (MIMO) systems. Firstly, fuzzy logic systems are introduced to approximate the unknown nonlinear function of the system by an adaptive algorithm. Next, a H∞ robust compensator controller is employed to eliminate the effect of the approximation error and external disturbances. Consequently, a fuzzy adaptive robust controller is proposed, such that the tracking error of the resulting closed-loop system converges to zero and the tracking robustness performance can be guaranteed. The simulation results performed on a two-link robotic manipulator demonstrate the validity of the proposed control scheme.

Adaptive Fuzzy H<sup>∞</sup> Robust Tracking Control for Nonlinear MIMO Systems

College of Physics and Electronic Engineering, Taizhou University, Taizhou 318000, Zhejiang, China

College of Information Engineering, Zhejiang University of Technology, Hangzhou 150001, Zhejiang, China

Cybernetics and Information Technologies

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Adaptive Fuzzy H Robust Tracking Control for Nonlinear MIMO Systems

In this paper an adaptive fuzzy H∞ robust tracking control scheme is developed for a class of uncertain nonlinear Multi-Input and Multi-Output (MIMO) systems....

Adaptive Fuzzy H^∞ Robust Tracking Control for Nonlinear MIMO Systems

Publicado en línea: 13 mar 2015

Páginas: 34 - 45

DOI: https://doi.org/10.1515/cait-2015-0004

© by Sanxiu Wang

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Adaptive Fuzzy H∞ Robust Tracking Control for Nonlinear MIMO Systems

Publicado en línea: 13 mar 2015

Páginas: 34 - 45

DOI: https://doi.org/10.1515/cait-2015-0004

© by Sanxiu Wang

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Adaptive Fuzzy H^∞ Robust Tracking Control for Nonlinear MIMO Systems