Robust adaptive self-structuring fuzzy control design for nonaffine, nonlinear systems

Pin Cheng Chen*, Chi-Hsu Wang, Tsu Tian Lee

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

11 Scopus citations


In this article, a robust adaptive self-structuring fuzzy control (RASFC) scheme for the uncertain or ill-defined nonlinear, nonaffine systems is proposed. The RASFC scheme is composed of a robust adaptive controller and a self-structuring fuzzy controller. In the self-structuring fuzzy controller design, a novel self-structuring fuzzy system (SFS) is used to approximate the unknown plant nonlinearity, and the SFS can automatically grow and prune fuzzy rules to realise a compact fuzzy rule base. The robust adaptive controller is designed to achieve an L2 tracking performance to stabilise the closed-loop system. This L2 tracking performance can provide a clear expression of tracking error in terms of the sum of lumped uncertainty and external disturbance, which has not been shown in previous works. Finally, five examples are presented to show that the proposed RASFC scheme can achieve favourable tracking performance, yet heavy computational burden is relieved.

Original languageEnglish
Pages (from-to)149-169
Number of pages21
JournalInternational Journal of Systems Science
Issue number1
StatePublished - 1 Jan 2011


  • adaptive control
  • fuzzy system
  • robust control
  • structure adaptation

Fingerprint Dive into the research topics of 'Robust adaptive self-structuring fuzzy control design for nonaffine, nonlinear systems'. Together they form a unique fingerprint.

Cite this