Nonlinear model reference adaptive control using Takagi-Sugeno fuzzy systems

Article type: Research Article

Authors: Goléa, Noureddine | Goléa, Amar | Kadjoudj, Mohamed

Affiliations: EE Institute, Oum El-Bouaghi University, 04000 Algeria | EE Institute, Biskra University, 07000 Biskra, Algeria | EE Institute, Batna University, 05000 Batna, Algeria

Note: [] Corresponding author. E-mail: [email protected]

Abstract: This paper develops a new direct model reference fuzzy adaptive control of SISO continuous-time nonlinear systems. The model following conditions are assured by using an adaptive Takagi-Sugeno (TS) fuzzy system as nonlinear state feedback controller. Both full state information and observer-based control schemes are investigated. It is shown, that the proposed control algorithm guarantees the stability of the nonlinear system with the tracking and state estimation errors converging to the neighborhood of the origin for all realizations of uncertainties and disturbances. Compared to previous works this approach is much simpler and less assumptions are required. Simulation results for controlling inverted pendulum system are given.

Keywords: TS fuzzy systems, reference model, adaptive control, observer, stability

Journal: Journal of Intelligent & Fuzzy Systems, vol. 17, no. 1, pp. 47-57, 2006