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Two-mode adaptive fuzzy control with approximation error estimator
Citation
Phan, PA and Gale, TJ, Two-mode adaptive fuzzy control with approximation error estimator, IEEE Transactions on Fuzzy Systems, 15, (5) pp. 943-955. ISSN 1063-6706 (2007) [Refereed Article]
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Copyright Statement
Copyright 2007 IEEE
DOI: doi:10.1109/TFUZZ.2006.890657
Abstract
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.
Item Details
Item Type: | Refereed Article |
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Keywords: | adaptive control, approximation error estimator, Lyapunov stability, neuro-fuzzy system, nonlinear control |
Research Division: | Information and Computing Sciences |
Research Group: | Machine learning |
Research Field: | Neural networks |
Objective Division: | Expanding Knowledge |
Objective Group: | Expanding knowledge |
Objective Field: | Expanding knowledge in the physical sciences |
UTAS Author: | Phan, PA (Mr Phi Phan) |
UTAS Author: | Gale, TJ (Dr Timothy Gale) |
ID Code: | 49893 |
Year Published: | 2007 |
Web of Science® Times Cited: | 49 |
Deposited By: | Engineering |
Deposited On: | 2007-08-01 |
Last Modified: | 2012-11-13 |
Downloads: | 2 View Download Statistics |
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