Noureddine Goléa

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This paper investigates a fuzzy model reference adaptive controller (FMRAC) for continuous-time multiple-input–multiple-output (MIMO) nonlinear systems. The proposed adaptive scheme uses a Takagi–Seguno (TS) fuzzy adaptive system, which allows for the inclusion of a priori information in terms of qualitative knowledge about the plant operating points or(More)
In this paper, new non-quadratic stability conditions are derived based on the parallel distributed compensation scheme to stabilize Takagi-Sugeno (T-S) fuzzy systems. We use a non-quadratic Lyapunov function as a fuzzy mixture of multiple quadratic Lyapunov functions. The quadratic Lyapunov functions share the same membership functions with the T-S fuzzy(More)
The objective of the model reference adaptive fuzzy control (MRAFC) is to change the rules definition in the direct fuzzy logic controller (FLC) and rule base table according to the comparison between the reference model output signal and system output. The MRAFC is composed by the fuzzy inverse model and a knowledge base modifier. Because of its improved(More)
This paper proposes an adaptive control suitable for motion control of robot manipulators with structured and unstructured uncertainties. In order to design an adaptive robust controller, with the ability to compensate these uncertainties, we use neural networks (NN) that have the capability to approximate any nonlinear function over a compact space. In the(More)
In this paper, a new non-quadratic stabilization approach is used to stabilize a two-link robot manipulator. We use a non-quadratic Lyapunov function as a fuzzy blending of multiple quadratic Lyapunov functions. The quadratic Lyapunov functions share the same membership functions with the T-S fuzzy model. The proposed approach is based on two assumptions.(More)
This paper develops a new direct model reference fuzzy adaptive control of SISO continuous-time nonlinear systems. The model following conditions are assured by using an adaptive Takagi-Sugeno (TS) fuzzy system as nonlinear state feedback controller. Both full state information and observer-based control schemes are investigated. It is shown, that the(More)