| Summary: | 碩士 === 大同大學 === 電機工程學系(所) === 94 === In this thesis, the proposed observer-based robust adaptive fuzzy control and observer-based robust adaptive fuzzy sliding mode control schemes can deal with the problem of robust stability for a class of uncertain multi-input multi-output (MIMO) nonlinear systems whose states are not available. Within these schemes, a fuzzy basis function is used to approximate an unknown nonlinear function according to some adaptive laws, and then the state observer is designed for estimating the states of the plant, upon which a robust adaptive fuzzy controller is firstly investigated. According to Lyapunov stability theorem and the theory of variable structure control, the proposed robust adaptive fuzzy sliding mode control scheme can guarantee the robust stability of the whole closed-loop system and obtain good tracking performance. Finally, the simulations are carried out on a two-link robot manipulator to illustrate the performance of the proposed approach.
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