Practical adaptive fuzzy H∞ tracking control of uncertain nonlinear systems
Er, Meng Joo
Date of Issue2012
School of Electrical and Electronic Engineering
This paper presents a practical direct adaptive fuzzy H∞ tracking control (AFHC) approach for a class of uncertain nonlinear systems with unknown control gain functions and external disturbances. A modified output tracking error is defined to eliminate high gain at the control input and to improve transient performance. An ideal control law is developed to eliminate the restriction that the control gain function must be known a priori under the direct adaptive scheme. A nonlinearly parameterized fuzzy system without redundant parameters is proposed to online approximate the ideal control law. The direct AFHC is derived by virtue of the Lyapunov synthesis, where both the antecedent and the consequent parameters of fuzzy rules are updated by the proposed adaptive law. Simulation studies have demonstrated that the proposed approach can outperform previous approaches with similar or less control efforts.
DRNTU::Engineering::Electrical and electronic engineering::Control and instrumentation
International Journal of Fuzzy Systems
© 2012 Taiwan Fuzzy Systems Association (TFSA). This paper was published in International Journal of Fuzzy Systems and is made available as an electronic reprint (preprint) with permission of Taiwan Fuzzy Systems Association (TFSA). The published version is available at: [http://www.ijfs.org.tw/ePublication/ePublication.html]. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper is prohibited and is subject to penalties under law.