Robust adaptive self-structuring fuzzy control design for nonaffine,nonlinear systems |
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| Authors: | Pin-Cheng Chen Chi-Hsu Wang Tsu-Tian Lee |
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| Affiliation: | 1. Department of Electrical Engineering , National Taipei University of Technology , Sec. 3, Chung-hsiao E. Rd, Taipei 10608, Taiwan pcchen@ntut.edu.tw;3. Department of Electrical and Control Engineering , National Chiao Tung University , Hsinchu 300, Taiwan;4. Department of Electrical Engineering , National Taipei University of Technology , Sec. 3, Chung-hsiao E. Rd, Taipei 10608, Taiwan |
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| Abstract: | In this article, a robust adaptive self-structuring fuzzy control (RASFC) scheme for the uncertain or ill-defined nonlinear, nonaffine systems is proposed. The RASFC scheme is composed of a robust adaptive controller and a self-structuring fuzzy controller. In the self-structuring fuzzy controller design, a novel self-structuring fuzzy system (SFS) is used to approximate the unknown plant nonlinearity, and the SFS can automatically grow and prune fuzzy rules to realise a compact fuzzy rule base. The robust adaptive controller is designed to achieve an L 2 tracking performance to stabilise the closed-loop system. This L 2 tracking performance can provide a clear expression of tracking error in terms of the sum of lumped uncertainty and external disturbance, which has not been shown in previous works. Finally, five examples are presented to show that the proposed RASFC scheme can achieve favourable tracking performance, yet heavy computational burden is relieved. |
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| Keywords: | adaptive control robust control fuzzy system structure adaptation |
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