Fuzzy Robust Tracking Control for Uncertain Nonlinear Systems
不确定非线性系统的模糊鲁棒跟踪控制

A robust adaptive tracking control method is presented based on T-S fuzzymodel.The overall control scheme is constructed by combining all local state feedbackcontrollers and robust adaptive neural network based controllers.By the proposed fuzzyadaptive robust controller there is no need to find a common positive definite matrix sat-isfying matrix Lyapunov equation,and no constraint or matching conditions are required.The learning ability of the proposed full adaptive RBF neural network with compensatingcomponent is improved through adaptive tuning of the weights,centers and widths on line.The adaptive compensating component is designed to compensate the shortcoming of theneural network through online estimating the bound on the neural network approximateerror.With the proposed method,the stability of the closed-loop system is guaranteed andimproved robustness and tracking performance are obtained.Simulation example is givento illustrate the effectiveness of the proposed method.