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Efficient adaptive fuzzy control scheme

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Author: Papp, Z. · Driessen, B.J.F.
Publisher: IEEE
Place: Piscataway, NJ, USA
Institution: Technisch Physische Dienst TNO - TH
Source:Proceedings of the 1995 IEEE Instrumentation and Measurement Technology Conference, 23-26 April 1995, Naltham, MA, USA, 741-746
Identifier: 232817
Keywords: Electronics · Digital signal processing · Feedback · Fuzzy control · Fuzzy sets · Learning systems · Nonlinear control systems · Online systems · Parameter estimation · Performance · Real time systems · Sensitivity analysis · Tuning · Adaptive nonlinear feedback control structure · Fine tuning · Fuzzy mappings · Index gradients · Mechatronics area · Adaptive control systems


The paper presents an adaptive nonlinear (state-) feedback control structure, where the nonlinearities are implemented as smooth fuzzy mappings defined as rule sets. The fine tuning and adaption of the controller is realized by an indirect adaptive scheme, which modifies the parameters of the fuzzy mapping. The performance index gradients are calculated on-line (using the sensitivity model of the subsystem to be controlled and the controller) to guide the training thus to provide relatively fast learning. Using this scheme an adaptive fuzzy controller design and simulation package was developed with direct link to DSP based real-time implementation. The tool was used to solve highly nonlinear control problems in mechatronics area.