Adaptive critic based approximate dynamic programming for tuning fuzzy controllers

We show the applicability of the dual heuristic programming (DHP) method of approximate dynamic programming to parameter tuning of a fuzzy control system. DHP and related techniques have been developed in the neurocontrol context but can be equally productive when used with fuzzy controllers or neuro-fuzzy hybrids. We demonstrate this technique on a highly nonlinear 2nd order plant proposed by Sanner and Slotine (1992). Throughout our example application, we take advantage of the Takagi-Sugeno model framework to initialize our tunable parameters with reasonable problem specific values, a practice difficult to perform when applying DHP to neurocontrol