Adaptive hybrid intelligent control for uncertain nonlinear dynamical systems using VSS and H approaches

Tsung Chih Lin*, Chi-Hsu Wang, Han Leih Liu

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

2 Scopus citations


A new hybrid direct/indirect adaptive fuzzy neural network (FNN) tracking control equipped with VSS and H control algorithms for a class of uncertain nonlinear dynamic systems involving external disturbance is developed in this paper. The hybrid adaptive FNN controller constructed by adaptive fuzzy control law, VSS controller and robust H controller is a combination of direct and indirect adaptive FNN controllers. A weighting factor, which is adjusted by the trade-off between plant knowledge and control knowledge, is appended between indirect adaptive FNN control and direct adaptive FNN control. By incorporating robust VSS and H control techniques, FNN tracking control can be extended towards a large class of uncertain nonlinear systems. The overall adaptive scheme guarantees the global stability of the resulting closed-loop system in the sense that all signals involved are uniformly bounded. The resulting FNN control system shows better performance, i.e., an arbitrary small attenuation level can be achieved; and it is more flexible during the design process. To illustrate the design methodology, it is applied to a spring-mass-damper system.

Original languageEnglish
Pages (from-to)59-70
Number of pages12
JournalInternational Journal of Electrical Engineering
Issue number1
StatePublished - 1 Feb 2004


  • Direct adaptive control
  • Fuzzy-neural
  • Indirect adaptive control
  • Robust H control
  • VSS

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