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Two-mode adaptive fuzzy control with approximation error estimator

journal contribution
posted on 2023-05-16, 20:58 authored by Phan, PA, Timothy GaleTimothy Gale
In this paper, we propose a two-mode adaptive fuzzy controller with approximation error estimator. In the learning mode, the controller employs some modified adaptive laws to tune the fuzzy system parameters and an approximation error estimator to compensate for the inherent approximation error. In the operating mode, the fuzzy system parameters are fixed, only the estimator is updated online. Mathematically, we show that the closed-loop system is stable in the sense that all the variables are bounded in both modes. We also establish mathematical bounds on the tracking error, state vector, control signal and the RMS error. Using these bounds, we show that controller's design parameters can be chosen to achieve desired control performance. After that, an algorithm to automatically switch the controller between two modes is presented. Finally, simulation studies of an inverted pendulum system and a Chua's chaotic circuit demonstrate the usefulness of the proposed controller.

History

Publication title

IEEE Transactions on Fuzzy Systems

Volume

15

Issue

5

Pagination

943-955

ISSN

1063-6706

Department/School

School of Engineering

Publisher

IEEE

Place of publication

USA

Rights statement

Copyright 2007 IEEE

Repository Status

  • Restricted

Socio-economic Objectives

Expanding knowledge in the physical sciences

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