Improved direct adaptive fuzzy control for a class of MIMO nonlinear systems

Abstract

This paper presents an effective scheme of direct adaptive fuzzy control for a class of nonlinear systems with unknown triangular control gain structure. The design is based on the principle of sliding mode control and the approximation capability of the first type fuzzy systems. By introducing the adaptive compensation for optimal approximation error, the closed-loop control system is shown to be globally stable, with tracking errors converging to zero. Simulation results demonstrate the effectiveness of the approach. ©2006 IEEE.