Robust Adaptive Fuzzy Control for Arbitrarily Switched Stochastic MIMO Systems with Time Delays

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Document Type : Original Article

Authors

1 Department of Electrical Engineering, Faculty of Engineering, University of Bojnord, Bojnord, Iran

2 Department of Chemical Engineering, Faculty of Engineering, Ferdowsi University of Mashhad, Mashhad, Iran

Abstract

In this paper, a robust adaptive fuzzy backstepping controller is designed for multi-input multi-output (MIMO) stochastic switched systems with time delays, which encompass nonlinear uncertainties. The nonlinear backstepping control technique is employed as the main framework for the controller design. A state observer is also designed to estimate the unmeasurable states. To simplify the design process, eliminate the need for a supervisory controller, prevent parameter drift in the adaptive laws, and ensure robust performance in the presence of unstructured uncertainties (such as external disturbances and modeling errors), the adaptive laws are fortified using the sigma modification method. The boundedness of all closed-loop signals and the convergence of both the tracking error and observer error to a small neighborhood of the origin are mathematically proven based on Lyapunov-Krasovskii stability analysis and expressed in the form of Theorem 1. Finally, simulation results demonstrate the desirable performance and effectiveness of the proposed robust adaptive fuzzy controller in stabilizing the aforementioned systems.

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Tabriz Journal of Electrical Engineering

Articles in Press, Corrected Proof
Available Online from 11 April 2026

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