Indirect Adaptive Robust Fuzzy Control for a Class of MIMO Nonlinear Systems

In this paper, an indirect adaptive robust fuzzy control method is proposed for a class of uncertain MOMO nonlinear systems. Fuzzy logic systems (FLS) are used to approximate the unknown dynamics of the system. The effect of both the function approximation error and the external disturbances is compensated by the use of the robust controller. "Dominant input" concept is introduced to solve the coupling problem of MIMO systems. The online computation burden is greatly reduced since only uncertainty bounds are tuned online. The proposed method can guarantee all signals in the closed-loop system are uniformly bounded and the tracking error exponentially converges to a small neighborhood of zero.