Based on the H∞ control technique and the strictly positive real Lyapunov (SPR-Lyapunov) design approach, an adaptive fuzzy-neural observer tuned on-line for a class of uncertain (unknown) nonlinear systems is developed. Unlike previous results, the assumption that the uncertain system nonlinearities only are restricted to the system output is not required. Moreover, the adaptive fuzzy-neural observer provides the modeling error (and the external bounded disturbance) attenuation with H∞ performance, obtained by a Riccati-like equation. Finally, simulation results demonstrate that the proposed observer yields satisfactory performance.
|頁（從 - 到）||2130-2135|
|期刊||Proceedings-IEEE International Conference on Robotics and Automation|
|出版狀態||已發佈 - 2000 4月|
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