| Fuzzy adaptive tracking control for MIMO nonlinear time-varying delay systems |
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| 作者姓名： | DU Zhenbin and LI Tao |
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| 作者单位： | School of Computer Science and Technology,Yantai University, Yantai 264005, Shandong,China;College of Electronic and Information Engineering, Nanjing University of Information Science and Technology, Nanjing 210044, Jiangsu, China |
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| 摘 要： | A fuzzy adaptive tracking control scheme is proposed for MIMO nonlinear time-varying delay systems. A fuzzy T-S model-based adaptive time-varying delay fuzzy logic systems is developed to approximate the unknown nonlinear time-varying delay functions.Thus, the modeling to nonlinear systems is implemented. The update laws for parameters of the fuzzy logic systems are derived by the tracking error. A Hcompensator is designed to eliminate fuzzy approximation errors and external disturbances. Based on Lyapunov stability theorem, the proposed control scheme can guarantee the stability of the closed loop systems and obtain anticipant Htracking performance as well. Simulation results of the manipulator demonstrate the effectiveness of the control scheme.
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| 关 键 词： | MIMO nonlinear systems time-varying delay fuzzy T-S model fuzzy logic systems tracking control |
Fuzzy adaptive tracking control for MIMO nonlinear time-varying delay systems |
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| DU Zhenbin and LI Tao.Fuzzy adaptive tracking control for MIMO nonlinear time-varying delay systems[J].Storage & Process,2013(2):148-156. |
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| Authors: | DU Zhenbin and LI Tao |
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| Institution: | School of Computer Science and Technology,Yantai University, Yantai 264005, Shandong,China;College of Electronic and Information Engineering, Nanjing University of Information Science and Technology, Nanjing 210044, Jiangsu, China |
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| Abstract: | A fuzzy adaptive tracking control scheme is proposed for MIMO nonlinear time-varying delay systems. A fuzzy T-S model-based adaptive time-varying delay fuzzy logic systems is developed to approximate the unknown nonlinear time-varying delay functions.Thus, the modeling to nonlinear systems is implemented. The update laws for parameters of the fuzzy logic systems are derived by the tracking error. A Hcompensator is designed to eliminate fuzzy approximation errors and external disturbances. Based on Lyapunov stability theorem, the proposed control scheme can guarantee the stability of the closed loop systems and obtain anticipant Htracking performance as well. Simulation results of the manipulator demonstrate the effectiveness of the control scheme. |
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| Keywords: | MIMO nonlinear systems time-varying delay fuzzy T-S model fuzzy logic systems tracking control |
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