Abstract: A new fuzzy adaptive robust control algorithm is presented for a class of uncertain nonlinear systems. In the algorithm, Takagi-Sugeno-type fuzzy logic systems are used to approximate unknown functions in the systems, and the adaptive mechanism with minimal learning pa-rameterizations can be achieved by using the dissipative system theory. An example illustrating the method of ship roll stabilization by the fin control system is included. It is shown that the designed system can guarantee the performance of the global asymptotic stability.

Key words: dissipation theory, adaptive robust control, fuzzy control, ship roll stabilization