Fuzzy Adaptive Controllers Design for MIMO Systems

H.A. Malki, Y.-C. Hsu, and D. Misir (USA)


: Fuzzy PID control, MIMO systems, Adaptive control.


: In this paper an adaptive fuzzy controller for multiple-input, multiple-output (MIMO) systems is presented. The proposed fuzzy adaptive control algorithm is based on an open-loop stable system. The fuzzy MIMO controller is composed of sub-fuzzy controllers that have similar structure to conventional discrete PD, PI, or PID controllers. There are four simple fuzzy "If-then" rules with two inputs: the error and the rate of change of the error. For simplicity, a two-input, two-output two-link planar robot arm is used for simulation. The results of the simulations shows satisfactory performance on both regulation and tracking.

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