Indirect adaptive fuzzy control for a class of MIMO nonlinear systems

In this paper, an indirect adaptive fuzzy controller is developed for a class of uncertain MIMO nonlinear systems. Within this scheme, the fuzzy logic systems are used to approximate the plant´s unknown nonlinear functions. The estimated gain matrix is decomposed into the product of one diagonal matrix and two orthogonal matrixes. A robust controller is used to compensate the lumped errors, and all parameter adaptive laws are adjusted by the filtered tracking errors. The proposed scheme guarantees that all the signals in the resulting closed-loop system are uniformly ultimately bounded(UUB). Moreover,it can be reduced the tracking errors by increasing the value of designed parameter. A simulation example is used to demonstrate the effectiveness of the proposed control scheme.