Fuzzy adaptive control of multivariable nonlinear systems

The robust fuzzy adaptive control scheme is developed for a class of unknow n nonlinear MIMO systems. Two types of uncertainties are considered: i.e. t he matched uncertainty and the unmatched uncertainties. In the control proc edure, fuzzy logic systems are implemented to estimate the unknown function s and robust compensators are designed in H-infinity sense for attenuating the unmatched uncertainties. It is shown that the proposed control is conti nuous, guarantees global stability and the H-infinity performance index. Ex tensive simulations on the tracking control of a two-link rigid robotics ma nipulator verify the effectiveness of the proposed algorithms. (C) 2000 Els evier Science B.V. All rights reserved.