Title :
A stable neuro-fuzzy controller for output tracking in composite nonlinear systems
Author :
Tsai, Chili-Hsin ; Liu, Jing-Sin ; Tseng, Kuo-Bin ; Lin, Wei-Song
Author_Institution :
Dept. of Electr. Eng., Nat. Taiwan Univ., Taipei, Taiwan
Abstract :
A learnable fuzzy controller is proposed for online implementation of a decoupling control action of uncertain composite affine nonlinear plants to track a prescribed trajectory. The controller is mainly composed of decentralized fuzzy systems with embedded two-stage rule credit assignments cascaded with an interconnection-compensating associative memory network. The controller can be parametrized by a set of linear parameters, which represent a combination of the credits of rules, locations and shape factors of membership functions. The parameters are tuned by a dead-zone adaptation algorithm. It is shown that the adaptive fuzzy controller guarantees a given level of attenuation for the tracking error in the presence of unknown but bounded interconnections and disturbances. A simulation of an inverted pendulum is given to demonstrate the effectiveness and robustness of the controller
Keywords :
adaptive control; cascade control; cascade systems; compensation; content-addressable storage; decentralised control; fuzzy control; fuzzy neural nets; fuzzy systems; learning systems; neurocontrollers; nonlinear control systems; robust control; tracking; adaptive fuzzy controller; cascaded systems; composite nonlinear systems; controller parametrization; dead-zone adaptation algorithm; decentralized fuzzy systems; decoupling control action; embedded two-stage rule credit assignments; interconnection-compensating associative memory network; inverted pendulum; learnable fuzzy controller; linear parameters; membership functions; online implementation; output tracking; parameter tuning; shape factors; stable neuro-fuzzy controller; tracking error attenuation; trajectory tracking; uncertain composite affine nonlinear plants; unknown bounded disturbances; unknown bounded interconnections; Adaptive control; Associative memory; Attenuation; Control systems; Error correction; Fuzzy control; Fuzzy systems; Programmable control; Shape control; Trajectory;
Conference_Titel :
Intelligent Processing Systems, 1997. ICIPS '97. 1997 IEEE International Conference on
Conference_Location :
Beijing
Print_ISBN :
0-7803-4253-4
DOI :
10.1109/ICIPS.1997.672773
