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) ...

An output feedback controller with adaptive conditional servocompensator is developed for robust output regulation of a class of nonlinear minimum-phase systems. It is shown that the controller achieves asymptotic regulation and can be tuned to recover the transient performance of a state feedback sliding-mode-controller.

The problem of designing an adaptive robust H∞ dynamic output feedback controller for uncertain linear systems is considered. The uncertainties are assumed to be time-varying, unknown, but bounded, which appear affinely in the matrices of system model. Based on the online estimations of uncertain parameters, a robust dynamic output feedback controller with variable gains is constructed to compe...

The paper derives a robust networked controller design method for systems with saturation where the delay is large and unknown, as in unidirectional flow-control. A classical linear robust criterion is first formulated in terms of the sensitivityand complementary sensitivity functions. Based on the Popov-criterion a new asymptotic constraint is derived, which specifies the minimum amount of low...

anti-lock braking system (abs) is a nonlinear and time varying system including uncertainty, so it cannot be controlled by classic methods. intelligent methods such as fuzzy controller are used in this area extensively; however traditional fuzzy controller using simple type-1 fuzzy sets may not be robust enough to overcome uncertainties. for this reason an interval type-2 fuzzy controller is de...

This paper presents a strategy for designing a robust discrete-time adaptive controller for stabilizing linear time-invariant LTI continuous-time dynamic systems. Such systems may be unstable and noninversely stable in the worst case. A reduced-order model is considered to design the adaptive controller. The control design is based on the discretization of the system with the use of a multirate...

In this paper, a robust tracking control method for automatic take-off and trajectory tracking of a quadrotor helicopter is presented. The designed controller includes two parts: a position controller and an attitude controller. The attitude controller is designed by using the sliding mode control (SMC) method to track the desired pitch and roll angles, which are the output of position controll...

This article presents a new approach so-called 'diffusive pseudo invariant' with application on the robust control of a DC motor with uncertain parameters. The fundamental property of this approach is to preserve as much as possible, in the uncertainty domain, the dynamic characteristics of the system. The controllers obtained are of fractional nature and can be achieved in a non-hereditary way...

This paper proposes a high-precision intelligent adaptive backstepping control system (HPIABCS) for the position control of permanent-magnet synchronous motor (PMSM) servo drive. The HPIABCS incorporates an ideal backstepping controller, a dynamic recurrent-fuzzy-wavelet-neural-network (DRFWNN) uncertainty observer and a robust H∞ controller. First, a backstepping position controller is designe...

In this paper the investigation of Adaptive Single Input Fuzzy Logic Controller (ASIFLC) as robust control of an Unmanned Underwater Vehicle (UUV). Robust control methods are designed to function properly with a present of uncertain parameters or disturbances. Robust control methods aim to achieve robust performance and stability in the presence of bounded modeling errors. The UUV applied in th...