| Title |
Design of Robust Adaptive Fuzzy Controller for Uncertain Nonlinear System Using Estimation of Bounding Constans and Dynamic Fuzzy Rule Insertion |
| Authors |
박장현(Park, Jang-Hyun) ; 박귀태(Park, Gwi-Tae) |
| Keywords |
robust adaptive control ; nonlinear system ; fuzzy control |
| Abstract |
This paper proposes an indirect adaptive fuzzy controller for general SISO nonlinear systems. In indirect adaptive fuzzy control, based on the proved approximation capability of fuzzy systems, they are used to capture the unknown nonlinearities of the plant. Until now, most of the papers in the field of controller design for nonlinear system considers the affine system using fuzzy systems which have fixed grid-rule structure. We proposes a dynamic fuzzy rule insertion scheme where fuzzy rule-base grows as time goes on. With this method, the dynamic order of the controller reduces dramatically and an appropriate number of fuzzy rules are found on-line. No a priori information on bounding constants of uncertainties including reconstruction errors and optimal fuzzy parameters is needed. The control law and the update laws for fuzzy rule structure and estimates of fuzzy parameters and bounding constants are determined so that the Lyapunov stability of the whole closed-loop system is guaranteed. |