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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/98854


    Title: Robust adaptive self-structuring fuzzy control design for nonaffine, nonlinear systems
    Authors: Chen, Pin-Cheng;Wang, Chi-Hsu;Lee, Tsu-Tian
    Contributors: 淡江大學電機工程學系
    Keywords: adaptive control;robust control;fuzzy system;structure adaptation
    Date: 2011-01
    Issue Date: 2014-09-24 09:44:58 (UTC+8)
    Publisher: Abingdon: Taylor & Francis
    Abstract: In this article, a robust adaptive self-structuring fuzzy control (RASFC) scheme for the uncertain or ill-defined nonlinear, nonaffine systems is proposed. The RASFC scheme is composed of a robust adaptive controller and a self-structuring fuzzy controller. In the self-structuring fuzzy controller design, a novel self-structuring fuzzy system (SFS) is used to approximate the unknown plant nonlinearity, and the SFS can automatically grow and prune fuzzy rules to realise a compact fuzzy rule base. The robust adaptive controller is designed to achieve an L 2 tracking performance to stabilise the closed-loop system. This L 2 tracking performance can provide a clear expression of tracking error in terms of the sum of lumped uncertainty and external disturbance, which has not been shown in previous works. Finally, five examples are presented to show that the proposed RASFC scheme can achieve favourable tracking performance, yet heavy computational burden is relieved.
    Relation: International Journal of Systems Science 42(1), pp.149-169
    DOI: 10.1080/00207720903494635
    Appears in Collections:[電機工程學系暨研究所] 期刊論文

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