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Two-mode adaptive fuzzy control with approximation error estimator


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Phan, PA and Gale, TJ 2007 , 'Two-mode adaptive fuzzy control with approximation error estimator' , IEEE Transactions on Fuzzy Systems, vol. 15, no. 5 , pp. 943-955 , doi: 10.1109/TFUZZ.2006.890657.

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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 Type: Article
Authors/Creators:Phan, PA and Gale, TJ
Journal or Publication Title: IEEE Transactions on Fuzzy Systems
Publisher: IEEE
ISSN: 1063-6706
DOI / ID Number: 10.1109/TFUZZ.2006.890657
Additional Information:

Copyright ©2007 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE."

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