Combined direct/indirect adaptive fuzzy-neural networks control with state observer and supervisory controller for nonlinear dynamic systems

A state observer-based combined direct/indirect adaptive FNN controller with supervisory controller for a class of uncertain nonlinear dynamic systems is developed in this paper. The combined adaptive FNN controller, whose free parameters can be tuned online by observer-based output feedback control law and adaptive law, is a combination of direct and indirect adaptive FNN controllers. A weighting factor, which is adjusted by trade-off between plant knowledge and control knowledge, appended between indirect adaptive FNN control and direct adaptive FNN control. A supervisory controller is appended into the FNN controller to force the state to be within the constraint set.