New approach of robust direct adaptive control of a class of SISO nonlinear systems

Abstract

A fuzzy adaptive tracking controller for a class of SISO uncertain nonlinear dynamical systems is proposed and analyzed. The controller consists of an adaptive and robustifying component whose role is to overcome the effect of uncertainties, disturbance and achieve a desired tracking performance. It is shown that the proposed controller guarantees superior performance compared to similar controllers in the literature. The stability of the closed loop is proved using Lyapunov theory in the sense that all signals involved are bounded. Finally, simulation results are presented to show the effectiveness of the proposed controller.