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Direct adaptive fuzzy control with a self-structuring algorithm


Phan, PA and Gale, TJ, Direct adaptive fuzzy control with a self-structuring algorithm, Fuzzy Sets and Systems, 159, (8) pp. 871-899. ISSN 0165-0114 (2008) [Refereed Article]

DOI: doi:10.1016/j.fss.2007.09.012


This paper presents a direct self-structuring adaptive fuzzy control (DSAFC) scheme for affine nonlinear single-input–single-output systems. We show that the only restriction on the control gain is that it be positive. No upper bound on this gain nor its derivative needs to be known. From an initial fuzzy system with a small number of rules, the self-structuring algorithm adds membership functions and rules when needed. To limit the size of the fuzzy system from growing indefinitely, the self-structuring algorithm replaces old membership functions by new ones instead of adding more membership functions so that the number of rules never exceeds a predefined upper bound. The stability of the closed loop system is guaranteed using the Lyapunov synthesis approach. The proposed control scheme is demonstrated by application to an inverted pendulum and a magnetic levitation system.

Item Details

Item Type:Refereed Article
Research Division:Engineering
Research Group:Control engineering, mechatronics and robotics
Research Field:Field robotics
Objective Division:Expanding Knowledge
Objective Group:Expanding knowledge
Objective Field:Expanding knowledge in engineering
UTAS Author:Phan, PA (Mr Phi Phan)
UTAS Author:Gale, TJ (Dr Timothy Gale)
ID Code:55450
Year Published:2008
Web of Science® Times Cited:70
Deposited By:Engineering
Deposited On:2009-03-11
Last Modified:2010-04-09

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