Indirect adaptive fuzzy robust control for a class of nonlinear MIMO systems

The adaptive fuzzy robust control scheme is proposed by applying "dominant input" concept for a class of unknown nonlinear MIMO systems. The scheme combines adaptive control with H/sup /spl infin// control and a fuzzy logic approximation method. It is shown that the proposed scheme guarantees the closed-loop system is globally stable and achieves H/sup /spl infin// tracking performance index, and the influence of external disturbances and fuzzy logic approximation errors and the cross-coupling of inputs to outputs on the tracking error is attenuated to a prescribed level. Compared with the design method proposed in Shaocheng Tong et al. (2000), the scheme reduces the complexity of the closed-loop system and simplifies the design, and is convenient for engineering application.