Robust indirect adaptive fuzzy control based on the GFHM

In this paper, a robust indirect adaptive fuzzy control algorithm based on the generalized fuzzy hyperbolic model (GFHM) for nonlinear system with uncertainties is proposed. The proposed control consists of two control terms. One is the certainty equivalent control and the other is the compensated control, which is obtained by bounded estimation in the online approximation of the uncertainty. The main advantage of the proposed control law is that the human knowledge about the plant under control is be used to design the controller and only one parameter vector in the adaptive mechanism is on-line adjusted. A simulation example is showed that the proposed controller provides good tracking performance.