Output-feedback control of uncertain nonlinear systems using direct adaptive fuzzy cerebellar model articulation controller

Author

Hsieh, Wei-Min ; Hong, Chin-Ming ; Zhon, Hong-Jian ; Leu, Yih-Guang

Author_Institution

Nat. Taiwan Normal Univ., Taipei

fYear

2007

fDate

7-10 Oct. 2007

Firstpage

847

Lastpage

852

Abstract

A direct adaptive fuzzy cerebellar model articulation controller (CMAC) is developed for a class of uncertain nonlinear systems. Only the system output measurement is available for feedback. The adjustable weighting factors of the direct adaptive fuzzy CMAC are updated online by an adaptive law. Strictly positive real Lyapunov theory is used to verify the stability of the closed-loop system, and the proposed control scheme guarantees that all signals involved are bounded and the system output asymptotically tracks the desired output. Finally, simulation results demonstrate the effectiveness of the proposed control scheme.

Keywords

Lyapunov methods; adaptive control; cerebellar model arithmetic computers; closed loop systems; feedback; fuzzy control; neurocontrollers; nonlinear control systems; stability; uncertain systems; Lyapunov theory; closed-loop system stability; direct adaptive fuzzy cerebellar model articulation controller; output feedback control; system output measurement; uncertain nonlinear systems; Adaptive control; Adaptive systems; Asymptotic stability; Control systems; Fuzzy control; Fuzzy systems; Nonlinear control systems; Nonlinear systems; Output feedback; Programmable control;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems, Man and Cybernetics, 2007. ISIC. IEEE International Conference on

Conference_Location

Montreal, Que.

Print_ISBN

978-1-4244-0990-7

Electronic_ISBN

978-1-4244-0991-4

Type

conf

DOI

10.1109/ICSMC.2007.4413995

Filename

4413995