Fuzzy direct adaptive control for a class of nonlinear systems
A direct adaptive tracking control architecture is proposed for a class of continuous-time nonlinear dynamic systems, for which an explicit linear parameterization of the uncertainty in the dynamics is either unknown or impossible. The architecture employs fuzzy systems to approximate the optimal controller which is designed on the assumption that all the dynamics in the system are known, develops fuzzy sliding controller to compensate for the plant uncertainties, smooth the control signals and increase robustness. Global asymptotic stability is established in the Lyapunov sense, with the tracking errors converging to a neighborhood of zero. The simulation results verify the effectiveness of the proposed control algorithm. (C) 1999 Elsevier Science B.V. All rights reserved.
adaptive control nonlinear systems fuzzy control fuzzy sliding mode