Title :
Fuzzy Adaptive Controller with Modulated Membership Function for a MIMO Uncertain Nonlinear System
Author :
Yao, Leehter ; Pan, Wei-Jun
Author_Institution :
Dept. of Electr. Eng., Nat. Taipei Univ. of Technol., Taipei, Taiwan
Abstract :
An adaptive fuzzy controller for controlling a multi-input-multi-output uncertain nonlinear system is proposed in this paper. The controller design is observer based since not all the system states are measurable. The fuzzy adaptive controller with modulated membership function (FAC_MMF) modulates the fuzzy sets on both the consequent and antecedent parts by adjusting a few parameters. As searching for those parameters in modulated membership functions is done by micro-genetic algorithm, FAC_MMF becomes effective. Since all system experiences uncertainties, a robust controller and a supervisory scaling gain are implemented in a closed-loop nonlinear system to guarantee a stability condition established by Lyapunov function. Example of nonlinear systems controlled by the FAC_MMF is demonstrated to illustrate the effectiveness of the proposed method.
Keywords :
Lyapunov methods; MIMO systems; adaptive control; closed loop systems; control system synthesis; fuzzy control; fuzzy set theory; genetic algorithms; nonlinear control systems; robust control; uncertain systems; Lyapunov function; closed loop nonlinear system; fuzzy adaptive controller; fuzzy sets; microgenetic algorithm; modulated membership function; multiinput-multioutput uncertain nonlinear system; robust controller; stability; supervisory scaling gain; Adaptive control; Control systems; Fuzzy control; Fuzzy sets; Fuzzy systems; MIMO; Nonlinear control systems; Nonlinear systems; Programmable control; Robust stability;
Conference_Titel :
Innovative Computing, Information and Control (ICICIC), 2009 Fourth International Conference on
Conference_Location :
Kaohsiung
Print_ISBN :
978-1-4244-5543-0
DOI :
10.1109/ICICIC.2009.218