Adaptive Fuzzy H∞ Robust Tracking Control for Nonlinear MIMO Systems

Sanxiu Wang; Kexin Xing; Zhengchu Wang

doi:10.1515/cait-2015-0004

.blurhash-client-img { display: none !important; }

Adaptive Fuzzy H∞ Robust Tracking Control for Nonlinear MIMO Systems

Cybernetics and Information Technologies

Volume 15 (2015): Issue 1 (March 2015)

By: Sanxiu Wang, Kexin Xing and Zhengchu Wang

Open Access

|Mar 2015

Abstract

In this paper an adaptive fuzzy H∞ robust tracking control scheme is developed for a class of uncertain nonlinear Multi-Input and Multi-Output (MIMO) systems. Firstly, fuzzy logic systems are introduced to approximate the unknown nonlinear function of the system by an adaptive algorithm. Next, a H∞ robust compensator controller is employed to eliminate the effect of the approximation error and external disturbances. Consequently, a fuzzy adaptive robust controller is proposed, such that the tracking error of the resulting closed-loop system converges to zero and the tracking robustness performance can be guaranteed. The simulation results performed on a two-link robotic manipulator demonstrate the validity of the proposed control scheme.

References

1. Kanellakopoulos, I., P. V. Kokotovic, A. S. Morse. Systematic Design of Adaptive Controllers for Feedback Linearizable Systems. - IEEE Transactions on Automatic Control, Vol. 36, 1991, No 11, pp. 1241-1253.10.1109/9.100933
Search in Google Scholar
2. Garelli, F., L. Gracia, A. Sala et al. Sliding Mode Speed Auto-Regulation Technique for Robotic Tracking. - Robotics and Autonomous Systems, Vol. 59, 2011, No 7, pp. 519-529.10.1016/j.robot.2011.03.007
Search in Google Scholar
3. Madani, T., B. Daachi, A. Benallegue. Adaptive Variable Structure Controller of Redundant Robots with Mobile/Fixed Obstacles Avoidance. - Robotics and Autonomous Systems, Vol. 61, 2013, No 6, pp. 555-564.10.1016/j.robot.2013.02.010
Search in Google Scholar
4. Ibrir, S., W. F. Xie, C. Y. Su. Adaptive Tracking of Nonlinear Systems with Non-Symmetric Dead-Zone Input. - Automatica, Vol. 43, 2007, No 3, pp. 522-530.10.1016/j.automatica.2006.09.022
Search in Google Scholar
5. Bresch-Pietri, D., M. Krstic. Adaptive Trajectory Tracking Despite Unknown Input Delay and Plant Parameters. - Automatica, Vol. 45, 2009, No 9, pp. 2074-2081.10.1016/j.automatica.2009.04.027
Search in Google Scholar
6. Lian, R. J. Design of An Enhanced Adaptive Self-Organizing Fuzzy Sliding-Mode Controller for Robotic Systems. - Expert Systems with Applications, Vol. 39, 2012, No 1, pp. 1545-1554.10.1016/j.eswa.2011.08.052
Search in Google Scholar
7. Ishaque, K., S. S. Abdullah, S. M. Ayob, et al. A Simplified Approach to Design Fuzzy Logic Controller for An Underwater Vehicle. - Ocean Engineering, Vol. 38, 2011, No 1, pp. 271-284.10.1016/j.oceaneng.2010.10.017
Search in Google Scholar
8. Liu, J., W. Wang, F. Golnaraghi, et al. A Novel Fuzzy Framework for Nonlinear System Control. - Fuzzy Sets and Systems, Vol. 161, 2010, No 21, pp. 2746-2759.10.1016/j.fss.2010.04.009
Search in Google Scholar
9. Aloui, S., O. Pagès, A. El Hajjaji, et al. Improved Fuzzy Sliding Mode Control for a Class of MIMO Nonlinear Uncertain and Perturbed Systems. - Applied Soft Computing, Vol. 11, 2011, No 1, pp. 820-826.10.1016/j.asoc.2010.01.001
Search in Google Scholar
10. Ertugrul, M., O. Kaynak. Neuro Sliding Mode Control of Robotic Manipulators. - Mechatronics, Vol. 10, 2000, No 1, pp. 239-263. 10.1016/S0957-4158(99)00057-4
Search in Google Scholar

Articles in this issue

DOI: https://doi.org/10.1515/cait-2015-0004 | Journal eISSN: 1314-4081 | Journal ISSN: 1311-9702

Journal RSS Feed

Language: English

Page range: 34 - 45

Published on: Mar 13, 2015

Published by: Bulgarian Academy of Sciences, Institute of Information and Communication Technologies

In partnership with: Paradigm Publishing Services

Publication frequency: 4 issues per year

Keywords:

Nonlinear MIMO system,

adaptive fuzzy control,

H∞ control

Related subjects:

Computer sciences,

Information technology

© 2015 Sanxiu Wang, Kexin Xing, Zhengchu Wang, published by Bulgarian Academy of Sciences, Institute of Information and Communication Technologies
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Volume 15 (2015): Issue 1 (March 2015)