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Fuzzy model reference adaptive control

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3 Author(s)
Golea, N. ; Electr. Eng. Inst., Oum-El-Bouaghi Univ., Algeria ; Golea, A. ; Benmahammed, K.

This paper investigates a fuzzy model reference adaptive controller (FMRAC) for continuous-time multiple-input-multiple-output (MIMO) nonlinear systems. The proposed adaptive scheme uses a Takagi-Seguno (TS) fuzzy adaptive system, which allows for the inclusion of a priori information in terms of qualitative knowledge about the plant operating points or analytical regulators (e.g., state feedback) for those operating points. A proportional-integral update law is used to obtain a fast parameters adaptation. Stability and robustness of this adaptive scheme are established using Lyapunov stability tools. The simulation results, for a two-link robot, confirm the performance of the proposed approach.

Published in:

Fuzzy Systems, IEEE Transactions on  (Volume:10 ,  Issue: 4 )