Improving adaptive fuzzy control for MIMO nonlinear time-delay systems
Combining adaptive fuzzy control with adaptive fuzzy identification, this paper presents an improving observer-based indirect adaptive.fuzzy control scheme for MIMO nonlinear time-delay systems. In this paper, an observer is designed to observe the system state, and an identifier is designed to identify the unknown part of the systems. By the observation error and the identification error, the parameter adjusting laws are derived. Both errors improve the performance of the system by regulating the parameters. Adaptive time-delay fuzzy logic systems are implemented to estimate the unknown functions, and a compensator eliminates fuzzy approximation errors and external disturbances. The control scheme guarantees system stability. The simulation results of 2-link manipulator demonstrate that the improving control scheme is effective.
Zhenbin DU Tao Li Zifang QU
School Of Computer Science and Technology, Yantai University, Yantai, 264005,China College of Electronic and Information Engineering Nanjing University of Information Science and Tech College of Mathematics and Information Science, Shandong Institute of Business and Technology, Yanta
国际会议
长沙
英文
894-898
2008-10-20（万方平台首次上网日期，不代表论文的发表时间）