Journal
IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART B-CYBERNETICS
Volume 34, Issue 2, Pages 942-950Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMCB.2003.818562
Keywords
adaptive fuzzy control; H infinity techniques; reference model; state-observer; Takagi-Sugeno systems
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A robust adaptive fuzzy controller, based on a state observer, for a nonlinear uncertain and perturbed system is presented. The state observer is introduced to resolve the problem of the unavailability of the state variables. Two control signals are added to a basic state feedback control law, deduced from a nominal model, to guarantee the tracking performance in the presence of structural uncertainties and external disturbances. The first control signal is computed from an adaptive fuzzy system and eliminates the effect of structural uncertainties and estimation errors. Updating the adjustable parameters is ensured by a PID law to obtain a fast convergence.. Robustness of the closed-loop system is guaranteed by an Hinfinity supervisor computed from a Riccati type equation. Simulation example is presented to show the efficiency of the proposed method.
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