Adaptive Fuzzy Control for a Class of MIMO Nonlinear Systems with Bounded Control Inputs

An adaptive fuzzy control scheme is proposed for a class of unknown multi-input multi-output (MIMO) nonlinear dynamic systems with bounded control inputs. A regularized inverse matrix was adopted to obtain a stable controller. Using a hyperbolic tangent smoothing function, the control signals can be limited to the amplitude range of actuators. This solves the problem of an arbitrary amplitude of control signals, which is very disadvantageous for the actuator. The feasibility of the proposed approach is demonstrated by simulations.