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A robust direct adaptive fuzzy control for a class of uncertain nonlinear MIMO systems

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Abstract

A robust direct adaptive fuzzy controller for a class of MIMO nonlinear systems with uncertainties and external disturbances is presented. The robust adaptive fuzzy controller is successfully employed using tracking error universe. Also adaption laws of the proposed controller are developed such that to be guaranteed the steady constant of the adjustable parameters and the estimated bound of the uncertainties and approximation error without utilizing any modification algorithm. Stability of the proposed method, i.e., uniformly ultimately boundedness of the tracking error and all involved signals, is shown based on Lyapunov theory. Simulation results demonstrate the capability and efficiency of the proposed technique for controlling nonlinear systems with uncertainties and external disturbances.

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Authors and Affiliations

  1. Faculty of Electrical and Robotic Engineering, Shahrood University of Technology, P.O. Box: 36199-95161, Shahrood, Iran

    Ali Akbarzadeh Kalat

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  1. Ali Akbarzadeh Kalat
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Correspondence to Ali Akbarzadeh Kalat.

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Authors declare that there has been no human participant or animal in this research.

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Communicated by V. Loia.

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Kalat, A.A. A robust direct adaptive fuzzy control for a class of uncertain nonlinear MIMO systems. Soft Comput 23, 9747–9759 (2019). https://doi.org/10.1007/s00500-018-3543-9

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