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In this paper, an indirect adaptive fuzzy robust controller for a class of MIMO nonlinear systems with prescribed performance is proposed. The prescribed performance guarantees that the tracking error should converge to an arbitrarily small residual set. All adaptive laws and control terms are derived based on Lyapunov stability analysis so that, semi-global stability and boundedness property can be guaranteed. It is shown that the proposed schemes achieve prescribed transient and steady state behavioral bounds on the tracking errors. Finally, simulation results are presented to show the effectiveness of the proposed algorithm.
Computer Communication Control and Automation (3CA), 2010 International Symposium on (Volume:1 )
Date of Conference: 5-7 May 2010