A novel fuzzy disturbance observer-based robust tracking control approach for a class of uncertain nonlinear MIMO systems

In order to reduce the restrained conditions on the disturbance, a robust tracking control approach is presented based on fuzzy disturbance observer for a class of uncertain nonlinear MIMO systems. Novel parameters update laws based on Lyapunov theory and control laws are proposed to guarantee that all the signals in the system are uniformly ultimately bounded and achieve given tracking performance index. In addition, a robustifying controller is designed to improve the tracking performance. Finally, simulation results illustrate the availability of this method.