Title :
Indirect adaptive interval type-2 fuzzy output feedback controller for MIMO nonlinear systems
Author :
Mousavi, Seyyed Hossein ; Sahraei, Bijan Ranjbar ; Noroozi, Navid ; Shabaninia, Faridoon
Author_Institution :
Sch. of Electr. & Comput. Engeneering, Shiraz Univ., Shiraz, Iran
Abstract :
This paper proposes an adaptive robust fuzzy controller for the tracking problem of a class of uncertain nonlinear MIMO systems. The control signal is comprised of two parts. One part is an adaptive fuzzy controller which approximates the system unknown functions using an interval type-2 fuzzy approximator. The other part is an H∞ based controller that is applied to attenuate the effect of disturbance and approximation error. Moreover, it is assumed that only output variables are measurable. Therefore, a state observer is carried out to estimate the system states. To illustrate the effectiveness and resilience behavior of the proposed controller, simulation results for a two DOF robotic manipulator are presented.
Keywords :
H∞ control; MIMO systems; adaptive control; approximation theory; fuzzy control; manipulators; nonlinear control systems; observers; robust control; state feedback; uncertain systems; H∞ based controller; adaptive robust fuzzy controller; approximation error; fuzzy approximator; indirect adaptive interval type-2 fuzzy output feedback controller; state observer; two DOF robotic manipulator; uncertain nonlinear MIMO system; Adaptive systems; Approximation methods; Equations; Fuzzy logic; MIMO; Mathematical model; Observers; H∞ control; MIMO control; interval type-2 fuzzy; robotic manipulator control;
Conference_Titel :
Resilient Control Systems (ISRCS), 2010 3rd International Symposium on
Conference_Location :
Idaho Falls, ID
Print_ISBN :
978-1-4244-5955-1
DOI :
10.1109/ISRCS.2010.5604028
