ADAPTIVE FUZZY T-S CONTROL BASED ON LOCAL LINEAR INTEGRAL CONTROLLERS

A Takagi-Sugeno (T-S) fuzzy model based adaptive control algorithm for a class of multiple-input-multiple-output (MIMO) nonlinear uncertain systems is presented in this paper. The T-S model consists of a set of linear local models which can be considered as the linearization models of the nonlinear systems in different operating regions. Local integral controllers are designed based on local linear fuzzy models and combined to generate the overall controller using fuzzy weighted integration. The consequent parameters of the T-S model can be updated online in the presence of external disturbances and parameter perturbations. Stability analysis shows all the signals in the closed-loop system are bounded. Simulation results on tracking control of a two-link robot manipulator are given to illustrate the effectiveness of the proposed method.