Stable indirect fuzzy adaptive control

This paper investigates new fuzzy model-based observer adaptive control for multi-input multi-output continuous-time nonlinear systems. The proposed adaptive scheme uses Takagi-Seguno (TS) fuzzy models to estimate the plant states and dynamics. Using stability arguments, it is shown that the proposed scheme is globally asymptotically stable. The observation and tracking errors are shown to converge asymptotically to zero, despite the presence of external disturbances and approximation errors. The performance of the developed approach is illustrated, by simulation, on two-link robot model. (C) 2002 Elsevier B.V. All rights reserved.