A self-organizing approach to fuzzy control of servomechanisms

By employing a feedforward and feedback PD control structure, this paper presents a simple approach to the problem of controlling multivariable nonlinear servomechanisms. The feedforward control action is deduced by a simplified fuzzy reasoning system. The required rule-base is constructed automatically via a self-organizing counterpropagation network (SOCPN) in cooperation with an online learning mechanism. Particular attention is paid to the problem of generalization, that is, the problem of how the learned knowledge can be used to handle novel situations without the need for re-learning. A specific system under consideration is a multivariable nonlinear passive line-of-sight (LOS) stabilization system. Simulation results on the LOS system are given