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论文类型：期刊论文

发表时间：2010-01-01

发表刊物：IEEE TRANSACTIONS ON SYSTEMS MAN AND CYBERNETICS PART A-SYSTEMS AND HUMANS

收录刊物：SCIE、EI、ESI高被引论文

卷号：40

期号：1

页面范围：170-184

ISSN号：1083-4427

关键字：Adaptive tracking control; backstepping technique; robust fuzzy control; strict-feedback form; uncertainty nonlinear multi-input (MIMO) systems

摘要：A robust adaptive fuzzy control approach is developed for a class of multi-input-multi-output (MIMO) nonlinear systems with modeling uncertainties and external disturbances by using both the approximation property of the fuzzy logic systems and the backstepping technique. The MIMO systems are composed of interconnected subsystems in the strict-feedback form. The main characteristics of the developed approach are that the online computation burden is alleviated and the robustness to dynamic uncertainties and external disturbances is improved. It is proven that all the signals of the resulting closed-loop system are uniformly bounded and that the tracking errors converge to a small neighborhood around zero. Two simulation experiments are presented to demonstrate the feasibility of the approach developed in this paper.