论文信息 - Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems approach

Robust output tracking for MIMO nonlinear systems: an adaptive fuzzy systems approach

An adaptive fuzzy systems approach to state feedback input-output (i/o) linearizing COlltroller is outlined. The allalysis is based 011 a general llOlllinear multi-inpu t Illul/,i -output (MIMO) systems, witll minimum phas e zero dynamics and uncertainties satisfillg tIle matclling condition . The adaptive ftlzzy system is incorporated into tIle COlltroi system as all outer feedback loop to increase the robustness of the i/o linearizing control ler. The adaptive ftlzzy system is also intended to add learlJiIlg ru](1 provide a challnel to incor porate IlflInan expert knowledge in tIle form of fuzzy rule "iIlteIlige11ce" witl] conventional i/o linearizing controllers. Finally, a spacecraft attitude control problem is used to compare tIle technique witll a conventional i/o linearizillg con troller.

B. A. White | A. Trebi-Ollennu

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