zbMATH — the first resource for mathematics

Geometry Search for the term Geometry in any field. Queries are case-independent.
Funct* Wildcard queries are specified by * (e.g. functions, functorial, etc.). Otherwise the search is exact.
"Topological group" Phrases (multi-words) should be set in "straight quotation marks".
au: Bourbaki & ti: Algebra Search for author and title. The and-operator & is default and can be omitted.
Chebyshev | Tschebyscheff The or-operator | allows to search for Chebyshev or Tschebyscheff.
"Quasi* map*" py: 1989 The resulting documents have publication year 1989.
so: Eur* J* Mat* Soc* cc: 14 Search for publications in a particular source with a Mathematics Subject Classification code (cc) in 14.
"Partial diff* eq*" ! elliptic The not-operator ! eliminates all results containing the word elliptic.
dt: b & au: Hilbert The document type is set to books; alternatively: j for journal articles, a for book articles.
py: 2000-2015 cc: (94A | 11T) Number ranges are accepted. Terms can be grouped within (parentheses).
la: chinese Find documents in a given language. ISO 639-1 language codes can also be used.

a & b logic and
a | b logic or
!ab logic not
abc* right wildcard
"ab c" phrase
(ab c) parentheses
any anywhere an internal document identifier
au author, editor ai internal author identifier
ti title la language
so source ab review, abstract
py publication year rv reviewer
cc MSC code ut uncontrolled term
dt document type (j: journal article; b: book; a: book article)
Adaptive fuzzy control of a class of MIMO nonlinear systems. (English) Zbl 1142.93365
Summary: This paper presents two indirect adaptive fuzzy control schemes for a class of uncertain continuous-time multi-input multi-output nonlinear dynamic systems. Within these schemes, fuzzy systems are employed to approximate the plant’s unknown nonlinear functions and robustifying control terms are used to compensate for approximation errors. By using a regularized matrix inverse, a stable well-defined adaptive controller is firstly investigated. Then, in order to obtain an adaptive controller not depending upon any parameter initialization conditions and to relax the requirement of bounding parameter values, a second adaptive controller is proposed. All parameter adaptive laws and robustifying control terms are derived based on Lyapunov stability analysis so that, under appropriate assumptions, semi-global stability and asymptotic convergence to zero of tracking errors can be guaranteed. Simulations performed on a two-link robot manipulator illustrate the approach and exhibit its performance.
93C42Fuzzy control systems
93C40Adaptive control systems