A Novel Adaptive Fuzzy Control Approach for Uncertain Multivariable Nonlinear Systems with Time Delays

Abstract A novel adaptive fuzzy controller for a class of uncertain multivariable nonlinear systems with time delays is proposed in this paper. By combining fuzzy Takagi-Sugeno (T-S) models and fuzzy logic systems, the modeling error and the uncertainties are not required to satisfy the constraint conditions. In the meantime, fuzzy T-S models are used to approximate the nonlinear systems and fuzzy logic systems are used to compensate the modeling error and the uncertainties. By using state feedback control law and adaptive law, free parameters can be tuned on-line based on Lyapunov synthesis approach. The adaptive fuzzy control scheme is constructed such that the closed-loop system is uniformly ultimately bounded and satisfies the desired  H performance. Simulation results demonstrate the effectiveness of the developed control scheme.