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Fuzzy disturbance observer approach to robust tracking control of nonlinear sampled systems with the guaranteed suboptimal H performance

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2 Author(s)
Euntai Kim ; Sch. of Electr. & Electron. Eng., Yonsei Univ., Seoul, South Korea ; Changwoo Park

This paper presents a new approach to robust tracking control of the nonlinear sampled systems using a discrete-time fuzzy disturbance observer (DFDO). Novel update and control laws are proposed to guarantee that all the signals in the closed-loop control system are uniformly ultimately bounded (UUB) in a compact set. No persistence of excitation (PE) condition, nor the assumption on the slowness of the change of the fuzzy parameters, is required. In addition, a robustifying controller is designed to improve the tracking performance. Finally, a computer simulation example is presented to illustrate the effectiveness and the applicability of the suggested method.

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Systems, Man, and Cybernetics, Part B: Cybernetics, IEEE Transactions on  (Volume:34 ,  Issue: 3 )