A novel fuzzy disturbance observer-based robust tracking control approach for a class of uncertain nonlinear MIMO systems

2010 ◽  
Author(s):  
Hu Hui ◽  
Hu Jun-da ◽  
Peng Guo
Keyword(s):  
Tracking Control ◽  
Disturbance Observer ◽  
Mimo Systems ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Control Approach ◽  
Fuzzy Disturbance Observer

scholarly journals Adaptive Fuzzy H∞ Robust Tracking Control for Nonlinear MIMO Systems

2015 ◽  
Vol 15 (1) ◽  
pp. 34-45
Author(s):  
Sanxiu Wang ◽  
Kexin Xing ◽  
Zhengchu Wang
Keyword(s):  
Tracking Control ◽  
Mimo Systems ◽  
Tracking Error ◽  
Approximation Error ◽  
Nonlinear Function ◽  
Robust Tracking ◽  
Robust Tracking Control ◽  
Fuzzy Logic Systems ◽  
Adaptive Fuzzy ◽  
Control Scheme

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.

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