Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems approach

An adaptive fuzzy systems approach to state feedback input-output (I/O) linearising controller is outlined. The analysis is based on a general nonlinear multi-input multi-output (MIMO) systems, with minimum phase zero dynamics and uncertainties satisfying the matching condition. The adaptive fuzzy system is incorporated into the control system as an outer feedback loop to increase the robustness of the I/O linearising controller. The adaptive fuzzy system is also intended to add learning and provide a channel to incorporate human expert knowledge in the form of fuzzy rule “intelligence” with conventional I/O linearising controllers. Finally, a spacecraft attitude control problem is used to compare the technique with a conventional I/O linearising controller