Adaptive hybrid intelligent control for uncertain nonlinear dynamical systems
IEEE Transactions on Systems, Man, and Cybernetics, Part B (Cybernetics) - Tập 32 Số 5 - Trang 583-597 - 2002
Tóm tắt
A new hybrid direct/indirect adaptive fuzzy neural network (FNN) controller with a state observer and supervisory controller for a class of uncertain nonlinear dynamic systems is developed in this paper. The hybrid adaptive FNN controller, the free parameters of which can be tuned on-line by an observer-based output feedback control law and adaptive law, is a combination of direct and indirect adaptive FNN controllers. A weighting factor, which can be adjusted by the tradeoff between plant knowledge and control knowledge, is adopted to sum together the control efforts from indirect adaptive FNN controller and direct adaptive FNN controller. Furthermore, a supervisory controller is appended into the FNN controller to force the state to be within the constraint set. Therefore, if the FNN controller cannot maintain the stability, the supervisory controller starts working to guarantee stability. On the other hand, if the FNN controller works well, the supervisory controller will be deactivated. The overall adaptive scheme guarantees the global stability of the resulting closed-loop system in the sense that all signals involved are uniformly bounded. Two nonlinear systems, namely, inverted pendulum system and Chua's (1989) chaotic circuit, are fully illustrated to track sinusoidal signals. The resulting hybrid direct/indirect FNN control systems show better performances, i.e., tracking error and control effort can be made smaller and it is more flexible during the design process.
Từ khóa
#Programmable control #Adaptive control #Intelligent control #Nonlinear dynamical systems #Fuzzy neural networks #Fuzzy control #Control systems #Force control #Nonlinear control systems #StabilityTài liệu tham khảo
ma, 2000, output tracking and regulation of nonlinear system based on takgi–sugeno fuzzy model, IEEE Trans Syst Man Cybernetics, 30, 47, 10.1109/3477.826946
10.1109/72.809085
10.1007/978-3-642-31362-2_46
10.1109/21.376496
10.1109/70.795786
10.1109/21.370193
10.1109/TCS.1986.1085869
10.1007/978-3-662-02581-9
10.1109/TSMC.1985.6313399
10.1109/91.755401
10.1109/91.481843
10.1109/9.186310
10.1109/21.478446
10.1109/21.278990
wang, 1994, Adaptive Fuzzy Systems and Control Design and Stability Analysis
10.1109/91.227383
10.1109/9.186309
10.1109/91.531775
10.1109/9.40741
10.1109/91.797976
10.1109/FUZZY.2000.839134
10.1109/91.755395
10.1109/91.784199
slotine, 1991, Applied nonlinear control
chen, 1999, Linear System Theory and Design
ogata, 1987, Discrete-Time Control Systems