Online adaptive fuzzy neural identification and control of a class of MIMO nonlinear systems

This paper presents a robust Adaptive Fuzzy Neural Controller (AFNC) suitable for identification and control of a class of uncertain MIMO nonlinear systems. The proposed controller has the following salient features: (1) Selforganizing fuzzy neural structure, i.e. fuzzy control rules can be generated or deleted automatically; (2) Online learning ability of uncertain MIMO nonlinear systems; (3) Fast learning speed; (4) Adaptive control; (5) Robust control, where global stability of the system is established using the Lyapunov approach. Simulation example is included to confirm the validity and performance of the proposed control algorithm.