| Summary: | 碩士 === 大同大學 === 電機工程學系(所) === 96 === In this thesis, a robust adaptive fuzzy output feedback control based on a state observer for a class of multi-input multi-output (MIMO) nonlinear systems with output delay and uncertainties is presented to deal with the problems of asymptotic stabilization and output tracking performance. Firstly, fuzzy logic systems and some adaptive laws are used to approximate unknown nonlinear functions and the unknown upper bounds of uncertainties, respectively. Secondly, the state observer is applied for estimating all states which are not available for measurement in the system. Thirdly, by constructing an appropriate Lyapunov function and using strictly-positive-real (SPR) stability theorem, the proposed robust adaptive fuzzy output feedback controller can not only guarantee the robust stability of a class of multivariable nonlinear uncertain systems with output delay, but also maintain a good tracking performance. Finally, some simulation examples are given to illustrate the effectiveness of the proposed approach.
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