Adaptive tracking control of uncertain MIMO nonlinear systems based on generalized fuzzy hyperbolic model

This paper is concerned with the problem of adaptive tracking control for a class of multi-input and multi-output (MIMO) strict-feedback nonlinear systems with unknown disturbances. In the controller design process, all the nonlinear unknown functions are accumulated to the last step in each subsystem, and the final nonlinear unknown accumulation is approximated by using generalized fuzzy hyperbolic model (GFHM). Only the actual controller and one adaptive law are needed in each subsystem. So the controllers design is much simple and the amount of calculation is greatly reduces comparing with the existing control methods. It is shown that the proposed control law can guarantee that all the signals in the closed-loop system are uniformly ultimately bounded and the tracking errors converge to a small neighborhood. The simulation results show the effectiveness and superiority of control method in this paper.