Synthetic adaptive fuzzy tracking control for MIMO uncertain nonlinear systems with disturbance observer

In this paper, a synthetic adaptive fuzzy tracking control method is studied for a class of multi-input multi-output (MIMO) uncertain nonlinear systems with time-varying disturbances. The unknown nonlinear functions are approximated by employing generalized fuzzy hyperbolic model. A synthetic adaptive fuzzy control is designed by dynamic surface control, serial-parallel estimation model and the disturbance observer. Then by using Lyapunov stability theory, it is guaranteed that all the variables of the closed-loop systems are semi-globally uniformly ultimately bounded (SGUUB). Finally, a satisfactory tracking performance with faster and higher accuracy can be obtained by adjusting the parameters appropriately. A practical example simulation can demonstrate the effectiveness and applicability of the proposed control approach.