A Combined Adaptive Fuzzy Control Method with the Function of Continuous Supervisory Control

For a class of uncertain nonlinear systems, a combined adaptive fuzzy control method with the function of continuous supervisory control is proposed in this paper. In the method, the combined controller is composed of three parts: tracking controller, continuous supervisor controller and adaptive compensation controller. This method utilizes the knowledge of controlled object and control behavior adequately. An adaptive compensator is used in the controller to compensate the approximation error of fuzzy logic system and effect of the external disturbance. In stability analysis, the term of minimum approximation error to be squared integral is not needed. Based on Lyapunov stability theory, it is proved that all signals in the closed-loop system are bounded and tracking error converges to zero. Simulation results demonstrate the effectiveness of the approach.