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An adaptive fuzzy Hinfin tracking control scheme is proposed for uncertain MIMO nonlinear system with the external disturbances. Compared with the system models investigated in the existing literatures, the system model in this paper is more general. The main property of this system model is that it does not need to assume that the disturbance coefficients are known constants. By designing the observer, the proposed control scheme does not require the system state to be available for measurement. The proposed adaptive fuzzy control scheme can guarantee that all the signals of the closed-loop system are bounded and Hinfin tracking performance is applied to substantially attenuate the effect of the modeling errors and the disturbances. A simulation example is employed to demonstrate effectiveness of the proposed scheme.