In this paper, an observer-based direct adaptive FNN controller with supervisory mode for a certain class of high order unknown nonlinear dynamical system is presented. The direct adaptive control (DAC) has the advantage of less design effort by not using FNN to model the plant. By using an observer-based output feedback control law and adaptive law, the free parameters of the adaptive FNN controller can be tuned on-line based on the Lyapunov synthesis approach. A supervisory controller is appended into the FNN controller to force the state to be within the constraint set. Therefore, if the FNN controller cannot maintain the stability, the supervisory controller starts working to guarantee stability. On the other hand, if the FNN controller works well, the supervisory controller will be de-activated. The overall adaptive scheme guarantees the global stability of the resulting closed-loop system in the sense that all signals involved are uniformly bounded.
|Number of pages||4|
|State||Published - 1 Dec 2001|
|Event||10th IEEE International Conference on Fuzzy Systems - Melbourne, Australia|
Duration: 2 Dec 2001 → 5 Dec 2001
|Conference||10th IEEE International Conference on Fuzzy Systems|
|Period||2/12/01 → 5/12/01|