Synchronization Adaptive Fuzzy Gain Scheduling PID Controller for a Class of MIMO Nonlinear Systems

This paper presents a new Synchronization Adaptive Fuzzy Gain Scheduling PID controller (SAFGS-PIDc) for a class of Multiple-input multiple-output (MIMO) nonlinear systems with uncertainties. To achieve better adaptation properties, weighting factor is adapted to sum together the adaptive fuzzy control scheme and Fuzzy Gain Scheduler PID control (FGS-PIDc) method, such that both controllers can be incorporated at the same time. The FGS adjusts online the parameters of the conventional PID controller, and an Indirect Adaptive Fuzzy control (IAFc) scheme that uses feedback error function as inputs is constructed. In addition, each subsystem of MIMO system is able to adaptively compensate for uncertainties and external disturbance. Also, a robust control term is designed that aims to provide added robustness in the presence of uncertainties. The proposed scheme can overcome the controller singularity problem. While the proposed controller scheme requires the uncertainties to be bounded, it does not require this bound to be known. Thus, this control law can be used for the systems that the system’s models are quite unknown. The proposed method guarantees the stability of the closed-loop system based on Lyapunov theory. Finally, simulation studies demonstrate the usefulness and effectiveness of the proposed technique for controlling nonlinear.