Adaptive fuzzy control of uncertain MIMO non-linear systems in block-triangular forms

Adaptive control of a class of uncertain multi-input/multi-output (MIMO) non-linear systems in block-triangular forms is considered in this paper. By incorporating dynamic surface approach and ??minimal learning parameters?? algorithm, a systematic procedure for the synthesis of stable adaptive fuzzy tracking controllers with less tuning parameters is developed. Takagi?CSugeno (T-S) fuzzy logic systems (FLSs) are used to approximate those unstructured system functions rather than the unknown virtual control gain functions. Consequently, the potential controller singularity problem can be overcome. Moreover, both problems of ??explosion of learning parameters?? and ??explosion of complexity?? are avoided. The computational burden has thus been greatly reduced. The stability in the sense of semi-globally uniform ultimate boundedness (SGUUB) of the closed-loop MIMO systems is established via Lyapunov stability theorem. Finally, simulation results are presented to demonstrate the effectiveness and the advantages of the proposed control approach.