Observer-based indirect adaptive fuzzy-neural tracking control for nonlinear SISO systems using VSS and H[infin] approaches

Fuzzy control is a model free approach, i.e., it does not require a mathematical model of the system under control. An observer-based indirect adaptive fuzzy neural tracking control equipped with VSS and H∞ control algorithms is developed for nonlinear SISO systems involving plant uncertainties and external disturbances. Three important control methods, i.e., adaptive fuzzy neural control scheme, VSS control design and H∞ tracking theory, are combined to solve the robust nonlinear output tracking problem. A modi5ed algebraic Riccati-like equation must be solved to compensate the e6ect of the approximation error via adaptive fuzzy neural system on the H∞ control. The overall adaptive scheme guarantees the stability of the resulting closed-loop system in the sense that all the states and signals are uniformly bounded and arbitrary small attenuation level of the external disturbance on the tracking error can be achieved. The simulation results con5rm the validity and performance of the advocated design methodology. c © 2003 Elsevier B.V. All rights reserved.