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Extended dynamic fuzzy logic system for a class of MIMO nonlinear systems and its application to robotic manipulators

Published online by Cambridge University Press:  22 May 2012

M. Hamdy  and
G. EL-Ghazaly
M. Hamdy*
Affiliation:
Department of Industrial Electronics and Control Engineering, Faculty of Electronic Engineering, Menofia University, Menof 32952, Egypt
G. EL-Ghazaly
Affiliation:
Department of Communication, Computer and System Sciences, Faculty of Engineering, University of Genova, Genova 16145, Italy
*
*Corresponding author. E-mail: mhamdy72@hotmail.com
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Summary

This paper presents an indirect adaptive fuzzy control scheme for a class of unknown multi-input multi-output (MIMO) nonlinear systems with external disturbances. Within this scheme, the dynamic fuzzy logic system (DFLS) is employed to identify the unknown nonlinear MIMO systems. The control law and parameter adaptation laws of DFLS are derived based on the Lyapunov synthesis approach. The control law is robustified in H∞ sense to attenuate external disturbance, model uncertainties, and fuzzy approximation errors. It is shown that under appropriate assumptions it guarantees the boundness of all signals in the closed-loop system and the asymptotic convergence to zero of tracking errors. An extensive simulation on the tracking control of a two-link rigid robotic manipulator verifies the effectiveness of the proposed algorithms.

Keywords

MIMO nonlinear systemsDFLSLyapunov synthesis approach
Type
Articles
Information
Robotica , Volume 31 , Issue 2 , March 2013 , pp. 251 - 265
Copyright
Copyright © Cambridge University Press 2012

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