OBSERVER-BASED ADAPTIVE FUZZY CONTROL OF TIME-DELAY UNCERTAIN NONLINEAR SYSTEMS

Anobserver-basedadaptivefuzzymodelfollowingcontrollerisproposed for a class of MIMO nonlinear uncertain systems to cope with time-delay, uncertainty in plant structure and disturbances. Based on universal approximation theorem the unknown nonlinear functions are approximated by fuzzy systems, where the premise and the consequent parts of the fuzzy rules are tuned with adaptive schemes. To have more robustness, and at the same time to alleviate chattering, an adaptive discontinuous structure is suggested. Moreover, the availability of the states measurement is not required and an adaptive observeris usedto estimatethestates. Asymptoicstabilityoftheoverallsystem is ensured using suitable a Lyapunov-Krasovskii functional candidate.